LECTURE NOTES

EMT 2502 VIBRATIONS

MECHATRONIC ENGINEERING
Y5 S1
DeKUT

By
Inno Odira

c Copyright by Inno Odira, 2018
Table of Contents

Table of Contents iii

0.1 MDOF Undamped Forced Response . . . . . . . . . . . . . . . . . . . . . . 1
0.2 Vibration Absorber Without Damping . . . . . . . . . . . . . . . . . . . . . 3

Bibliography 6

REFERENCES 6

iii
 1
0.1 MDOF Undamped Forced Response
Example:
Consider a simple 2DOF mass- spring system Fig. 1

Figure 1: 2DOF Mass-Spring system

EOM: 2DOF hence 2 Equations of motion

For m1

m1 ẍ1 = −k1 x1 − k2 (x1 − x2 ) + f1 ⇒ m1 ẍ1 + (k1 + k2 )x1 − k2 x2 = f1

For m2

m2 ẍ2 = k2 (x1 − x2 ) − k3 x2 + f2 ⇒ m2 ẍ2 + (k1 + k3 )x2 − k2 x1 = f2

In Matrix form:
" #" # " #" # " #
m1 0 ẍ1 k1 + k2 −k2 x1 f1
+ = (1)
0 m2 ẍ2 −k2 k2 + k3 X2 f2
| {z } | {z } | {z } | {z } | {z }
M Ẍ K X F

In a familiar form
M Ẍ + KX = F (2)
Assume The forcing function is harmonic:

f1 = f¯1 cos ωt and f2 = f¯2 cos ωt

We can assume a solutions:

x1 = x̄1 cos ωt and x2 = x̄2 cos ωt (3)

 2
Differentiate (8)and substitute into the equation of motion (??)
" #" # " #" # " #
m1 0 x̄1 k1 + k2 −k2 x̄1 f¯1
−ω 2 + = (4)
0 m2 x̄2 −k2 k2 + k3 x̄2 f¯2

Equivalent to

[K − ω 2 M ]X̄ = F̄ (5)
To have a solution [K − ω 2 M ] must be invertible.
Thus
[K − ω 2 M ]X̄ = F̄ → X̄ = [K − ω 2 M ]−1 F (6)
For our example problem.

X̄ = [K − ω 2 M ]−1 F
" #−1
ki + k2 − ω 2 m1 −k2
= F̄
−k2 k2 + k3 − ω 2 m1
" #" #
1 k2 + k3 − ω 2 m1 k2 f¯1
=
det[K − ω 2 M ] k2 ki + k2 − ω 2 m1 f¯2

Let
∆(ω) = det [K − ω 2 M ] = (k1 + k2 − ω 2 m1 )(k2 + k3 − ω 2 m2 ) − k22


| {z }
characteristic polynomial

Solving for X̄1 and X̄2

(k2 + k3 − ω 2 m1 )f¯1 + k2 f¯2

X̄1 =
∆(ω)
k2 f1 + (k1 + k2 − ω 2 m2 )f¯2 +
¯
X̄2 =
∆(ω)

Note:Both denominators ∆(ω) are characteristic polynomial.

Then

1. den ∆(ω) = 0 at the natural frequencies

2. If numerator num 6= 0 at natural frequencies, then the response goes ∞ at each natural
frequency as shown in Fig . 2
 3

Figure 2: Response of forced undamped 2DOF Mass-Spring system

Figure 3: Vibration absorber

0.2 Vibration Absorber Without Damping

Example:
Consider a simple 1DOF mass- spring system Fig. 3 (a), Can we design a vibration absorber
to minimize the response of x1 to f (t) ?
EOM: 2DOF hence 2 Equations of motion
 4
For m1

m1 ẍ1 = −k1 x1 − k2 (x1 − x2 ) + f ⇒ m1 ẍ + (k1 + k2 )x1 − k2 x2 = f

For m2
m2 ẍ2 = k1 (x1 − x2 ) ⇒ m2 ẍ2 + k1 x2 − k1 x1 = 0
In Matrix form:
" #" # " #" # " #
m1 0 ẍ1 k1 + k2 −k2 x1 f
+ = (7)
0 m2 ẍ2 −k2 k1 X2 0

Assume The forcing function is harmonic:

" #
f¯
f (t) = f¯eiωt so F = eiωt F = F̄ eiωt
0
We can assume a solution x(t) to match the form of f (t):

X(t) = X̄eiωt (8)

Substitute into the equation of motion and collect terms

Thus
[K − ω 2 M ]X̄ = F̄ → X̄ = [K − ω 2 M ]−1 F (9)
For our example problem.

X̄ = [K − ω 2 M ]−1 F
" #−1 " #
ki + k2 − ω 2 m1 −k2 f¯
X̄ =
−k2 k2 + −ω 2 m2 0
" #" #
1 k2 − ω 2 m2 k2 f¯
=
det[K − ω 2 M ] k2 ki + k2 − ω 2 m1 0

Let
∆(ω) = det [K − ω 2 M ] = (k1 + k2 − ω 2 m1 )(k2 − ω 2 m2 ) − k22


| {z }
characteristic polynomial

Solving for X̄1 and X̄2

(k2 − ω 2 m2 )f¯
X̄1 =
∆(ω)
k2 f¯
X̄2 =
∆(ω)
 q 5
2 k2
Note: We can make response of mass m1 X̄1 = 0 if k2 − ω m2 = 0 → ω= m2
.

Look at the FBD 3, If the Spring force Fsp2 is exactly opposite of f (t) for all time, then
there are no external forces on m1 (Assume x1 = 0)
Let us look at the equation of motion
q q
Assume f (t) = f cos(ωn t) where ωn = m1 = mk22
k1

With
k1 k2
∆(ω) = (k1 +k2 −ω 2 m1 )(k2 −ω 2 m2 )−k22 = (k1 +k2 − m1 )(k2 − m2 )−k22 = (k2 )(0)−k22
m1 m2
Thus
(k2 )f¯
X̄2 =
−k22
Then
−f¯
X̄2 (t) = cos ωn t
k2
And the resulting spring force

−f¯
 
Fsp2 = k2 (X2 ) = k2 cos ωn t = −f¯ cos(ωn t)
k2 | {z }
Exactly cancels the excitation force
REFERENCES