Vibrating Measuring Instrument

e-Notes by S.K.
Kudri, BVB, Hubli
CHAPTER-5
VIBRATION MEASURING INSTRUMENTS

Topics covered:
Theory of Vibration measuring instruments
Displacement measuring instrument (Vibrometer)
Velocity measuring instrument (Velometer)
Acceleration measuring instrument (Accelerometer)
Numerical Problems/Discussions
Theory of Vibration measuring instruments

It is well known that the dynamic forces in a vibratory system depend on the
displacement, velocity and acceleration components of a system:
Spring force µ displacement

Damping force µ velocity
Inertia force µ acceleration
Therefore, in vibration analysis of a mechanical system, it is required to measure the

displacement, velocity and acceleration components of a system. An instrument,
which is used to measure these parameters, is referred as vibration measuring
instrument or seismic instrument. A simple model of seismic instrument is shown in
Fig.5.1. The major requirement of a seismic instrument is to indicate an output, which
represents an input such as the displacement amplitude, velocity or acceleration of a
vibrating system as close as possible.
Frame
K c
x z Scale
m
y=Y sint
Machine
Fig.5.1 Seismic instrument
m-seismic mass
c-damping coefficient of seismic unit
K-stiffness of spring used in seismic unit
VTU e-learning Course ME65 Mechanical 2
Vibrations
x-absolute displacement of seismic mass

y-base excitation (assume SHM)
z=(x-y) displacement of seismic mass relative to frame
To study the response of the system shown in Fig.5.1, we shall obtain the equation of
motion of seismic mass:
mx  c( x  y )  K ( x  y )  0 (1)
mz  cz  Kz   my (2)
Considering base excitation to be SHM:
y(t) =Y sint (3)
mz  cz  Kz  m Y sin t 2
(4)
The above equation represents a equation of motion of a forced vibration with
m 2Y  F
Solution of governing differential equation is:
z (t )  z c (t )  z p (t )
zc is the complimentary solution, which nullifies after some time. The total solution is
thus, only steady state solution zp
Let, the steady state solution of Eqn.(4) is:
z (t )  Z sin(t   ) (5)
Eqn.(5) has to satisfy Eqn.(4). Substitute Eqn.(5) in (4) and draw force polygon as
already studied in forced vibration. The amplitude of steady state vibration is:
m 2Y
Z (6)
( K  m 2 ) 2  (c ) 2
devide above equation by K
r 2Y
Z (7)
(1  r 2 ) 2  (2r ) 2
substitute eqn.(5.7) in eqn.(5.5)
r 2Y
z (t )  sin(t   ) (8)
(1  r 2 ) 2  (2r ) 2
the phase angle is:
 c 
  tan 1  2  (9)
 K  m 
 2r 
  tan 1  2  (10)
1 r 
The variation of non-dimensional amplitude (Z/Y) with respect to frequency ratio (r)
is shown in Fig.5.2
Dr. S. K. Kudari, Professor Session: I&II 03-04/04/07

Deptt. Mech. Engg.,
B. V. B. College of Engineering and Technology, Hubli - 580031.
Vibrations
4
=0.0
=0.1
3
=0.2
=0.3
Z/Y 2
=0.4
=0.5
=0.707
=1
0
0 1 2 3 4
/n (r)
Fig.5.2 Plot of equation 7
Displacement measuring instrument (Vibrometer)

It is an instrument used to measure the displacement of a vibrating system.
In Eqn.(8) if,
r2
1 (11)
(1  r 2 ) 2  (2r ) 2
then,
z (t )  Y . sin(t   ) (12)
Eqn.(11) is the condition for vibrometer.
Acceleration measuring instrument (Accelerometer)

It is an instrument used to measure the acceleration of a vibrating system. The
response of the seismic mass is given by Eqn.(8). Double differentiating the Eqn.(8),
we get.
r2
 z (t ) 2  (Y 2 sin(t   )) (13)
(1  r )  (2r )
2 2 2
1
 z (t ) n2  ( Y 2 sin(t   )) (14)
(1  r )  ( 2 r )
2 2 2
In above equation if
1
1 (15)
(1  r ) 2  (2r ) 2
2
Then,
 z (t ) n2  Y 2 sin(t   )
(16)
we have acceleration component of base excitation:
Eqn.(15) is the condition for accelerometer.
Deptt. Mech. Engg.,
Vibrations
Numerical problems
Problem-1
A seismic instrument is mounted on a machine running at 1000 rpm. The natural
frequency of the seismic instrument is 20 rad/sec. the instrument records relative
amplitude of 0.5 mm. Compute the displacement, velocity and acceleration of the
machine. Neglect the damping in seismic instrument.
Given data
n=20 rad/s, =0
Speed of the machine (N) = 1000 rpm
2N 2 (1000)
  
60 60
=104.72 rad/s
Frequency ratio
 104.72
r    5.23
n 20
For seismic instrument
Z r2

Y (1  r 2 ) 2  (2r ) 2
For the given system damping is neglected
Z 0.5
Y    0.48mm
1.042 1.042
Z 5.232
  1.042
Y 1  5.232
Displacement of the machine:
Z 0.5
Y    0.48mm
1.042 1.042
Velocity of the machine:
.Y = (104.72) 0.48 = 50.26 mm/s
Acceleration of the machine:
2.Y = (104.72)2 0.48 = 5263.81 mm/s2
Problem-2
A seismic instrument has natural frequency of 6 Hz. What is the lowest frequency
beyond which the amplitude can be measured within 2% error. Neglect damping
Given data
n = 6 Hz,  =0 and error = 2%

Deptt. Mech. Engg.,
Vibrations
Damping is neglected for given system
Z r2

Y 1  r2
Z Y
Error   0.02
Y
Z = Y+0.02 Y = 1.02 Y
Z r2
 1.02 
Y 1  r2
1.02  1.02r 2  r 2
r= 0.7034
The lowest frequency beyond which the amplitude can be measured within 2% error
is:
 =r. n
 = (0.7034) 6
 = 4.22 Hz
Summary
Seismic instruments are used to measure the displacement, velocity and acceleration
components of a vibratory system. Basic theory of Seismic instruments is based on
forced vibration considering the vibratory system under base excitation. A single
Seismic instrument can be sued as vibrometer, velometrer and accelerometer using
suitable calibration.

Deptt. Mech. Engg.,
Vibrations
CHAPTER-5
WHIRLING OF SHAFTS
Topics covered:
Whirling of shafts neglecting damping
Whirling of shafts with damping
Numerical Problems/Discussions
Introduction
In engineering, we have seen many applications of shaft and a rotor system. Power
transmitting shafts always have either gear, pulley, sprocket, rotor or a disc attached to
a shaft as shown in the Fig.1
Fig.1 Shaft rotor system
Problems in shaft and rotor systems:

(i) Unbalance in rotor/disc
(ii) Improper assembly
(iii) Weaker bearings
Conditions for perfect balancing
(i)Mass centre (centre of gravity) has to co-inside with the geometric centre (Fig.2)
(ii) m.e = unbalance =0
Geometric centre
Mass centre
m
e
Fig.2 Top view of disc

Rotating shafts due to unbalance disc at its centre tend to bend out at certain speed
and whirl in an undesired manner as shown in Fig.3, which affects the working of
machine and the shaft may also fail due to large deflection at the center. Whirling is
defined as the rotation of plane made by the bent shaft and line of centers of bearings.

Deptt. Mech. Engg.,
Vibrations
Fig.3 Bent of shaft due to whirling
Whirling of shafts neglecting damping
d e
Restoring force Centrifugal force
(spring force) mω 2 (d  e)
K.d O P G
Fig.4 Forces acting on the disc
P- Geometric center
G- centre of gravity
O- center of rotation
e- eccentricity
d- deflection of shaft
Equating both the forces
mω2 (d  e)  Kd (1)
mω 2 e
d (2)
K  mω 2
Divide numerator and denominator by K
er 2
d (3)
1  r2
It is observed from above equation that theoretically, the deflection of the shaft tends
to infinity when r =1, i.e =n. The speed of the shaft under this condition is referred
as critical speed of shaft.
If r <1 Below critical speed
d is +ve, which indicates that disc rotates about O ( centre of rotation) and O and G
(Centre of gravity) are opposite each other
If r >1 above critical speed, d is –ve

Deptt. Mech. Engg.,
Vibrations
d ® -e, which indicates O, approaches G and disc rotates about center of gravity.
Therefore, tt is desired to run the shaft at speed much higher than the natural
frequency of the shaft rotor system, which has reduced whirling of shaft.
Whirling of shafts with damping

It is well known that Damping is the resistance to motion, in this analysis damping is
considered.
Three forces acting on the shaft under equilibrium as shown in Fig.5:
(i) centrifugal fore at G acts racially outwards
(ii) restoring force at point P acts radialy inwards and
(iii) damping force at P acts radialy outwards.
G
ω 2mb
b
P e
O
Kd
cd
d
Fig.5 Force diagram under damping
y
G (xg,yg)
e

x t
d P
 y
O x
Fig.6 Top view of the disc at time t
Figure 6 shows the top view of the disc at any instant of time. From this figure the
coordinates of centre of gravity are:
y g  y  e.sinωt (4)
x g  x  e.cosωt (5)

Deptt. Mech. Engg.,
Vibrations
The equation of motion for the system in x - direction is:

mx g  cx  Kx  0
m(x  ω 2e.cosωt )  cx  Kx  0 (6)

mx  cx  Kx  mω e.cosωt 2
(7)
Similarly the equation of motion for the system y - direction is:
my  cy  Ky  mω 2e.sinωt (8)
The governing equation of motion of the system in x-direction is given in Eqn.(7).
The solution to this governing equation is:
x(t)  x c (t)  x p (t) (9)
where first part of Eqn.(9) is transient part of solution and second part is steady state
solution.
Let, x(t), the steady state solution of equation of motion is:
x(t)  Xcos(ωt  ψ) (10)
Above Eqn has to satisfy governing Eqn.(7). Substitute Eqn.(10) in Eqn.(7) and draw
force diagram as shown in Fig.7.
KX-m 2X
A Impressed force
Spring force B F Displacement
 
KX X vector
t Reference axis
Damping O
c X
force m 2X
Inertia force
Fig.7 Vectorial representation of forces
From triangle OAB of Fig.7, the steady state response of the system in x, horizontal
direction is:
KX  mω X 2 2
  cωX   mω 2e
2
(11)
 2 
X2 K  mω2   cω2   mω2e
  
  

 

(12)
mω 2e
X (13)
K  mω    cω
2 2 2
Dividing Eqn.(13) by K

Deptt. Mech. Engg.,
Vibrations
mω2e
X K
2 2 (14)
 mω2   cω 
1    
 K   K 
r 2e
X (15)
(1  r 2 )2  (2ξr )2
The steady state response of the system in x, horizontal direction is :
er 2
x(t)  cos(ωt  ψ) (16)
1  r  2 2
  2ξr 
2
Similarly, the steady state response of the system in y, vertical direction is :

er 2
y(t)  sin(ωt  ψ) (17)
1  r  2 2
  2ξr 
2
The deflection of shaft is :

d x2  y2 (18)
er 2
d (19)
1  r  2 2
  2ξr 
2
The plot of above equation is shown in Fig.8. This figure indicates that d depends on
frequency ratio (r ) and damping ratio ().
The phase angle is :
 2ξr 
ψ  tan 1  (20)
1  r 
2
The plot of above equation is shown in Fig.9. This figure indicates that the phase
difference depends on frequency ratio (r ) and damping ratio ().
4
=0.0
=0.1
3
=0.2
=0.3
2
d/e
180 =0.4
=0.5
160
1
140
=0.707
=1.0
Phase angle, 
120
=1 =0.707
=0.5
100 0
0 1 2 3 4
80 /n (r)
60
Fig.8 Plot Eqn. (19)
40
=0.2
20 =0.1
=0
Deptt. Mech. Engg., 0
0 1 2 3 4 5
B. V. B. College of Engineering and Technology,
/ (r) Hubli - 580031. r
Fig.9 Plot Eqn. (20)

Vibrations
Summary
Due unbalance in a shaft-rotor system, rotating shafts tend to bend out at certain speed
and whirl in an undesired manner. Whirling is defined as the rotation of plane made
by the bent shaft and line of centers of bearings. Theoretically, the deflection of the
shaft tends to infinity when r =1, i.e =n. The speed of the shaft under this condition
is referred as critical speed of shaft.
Theory indicates that at higher speeds the shaft tries to rotate at centre of gravity, and
deflection of the shaft is negligible. It is desired to run the shaft at speed much higher
than the natural frequency of the shaft rotor system

Deptt. Mech. Engg.,
Vibrations
CHAPTER-6
SYSTEMS WITH TWO DEGREE OF FREEDOM

Topics covered:
Mathematical modeling of two DOF system
Mathematical derivation of governing equations
(i) Newton's method
(ii) Energy method (Lagrange’s method)
Solution to governing equations
Modes of Vibration
Co-ordinate coupling
Principal co-ordinates
Free vibration (linear, torsional, string and pendulum systems)
Forced Vibration
Applications
Introduction
In earlier classes we have discussed analysis of single degree of freedom systems. It is
well known that Degree of freedom is the number of independent co-ordinates
required to describe the motion of a vibratory system
Degree of freedom of a system=(Number of masses in a system) x (number of
possible types of motion of each mass.
A two-degree freedom system is one that requires two coordinates to describe its
motion. These coordinates are called generalized coordinates when they are
independent of each other. A two DOF system has two equations of motion, which can
be solved to obtain two natural frequencies
Examples of 2 DOF linear and torsional systems are shown in Fig.1.
K1 Kt
1
m1 J1
1
x1
Kt2
K2
J2
2
m2
x2
Dr. S. K. Kudari,Fig.1
Professor Session:
Examples of 2DOF linear and torsional systemsI&II 03-04/04/07
Deptt. Mech. Engg.,
Vibrations
Obtain the equations of the motion of the linear system shown in Fig.1.
Governing equations can be obtained by
(i) Newton’s method
(ii) Lagrange’s method (Generalized energy method).
Newton’s method
The Newton’s method use force balance equations to obtain governing equations. The
Force equilibrium diagram of given 2DOF linear system is shown in Fig.2.
K1x1
m1 m1x 1
K2(x2-x1)
m2 m2x 2
Fig.2 Force equilibrium diagram of 2DOF linear system
From Force equilibrium diagram of mass m1:

m1x 1  K 1x1  K 2 (x 2  x1 )  0 (1)
m1x 1  (K 1  K 2 )x1  K 2 x 2  0 (2)
From Force equilibrium diagram of mass m2 :
m2x 2  K 2 (x 2  x1 )  0 (3)
m2x 2  K 2 x1  K 2 x 2  0 (4)
Eqns. (2) and (4) are Eqns of motion of the system.
Lagrange’s method (Generalized energy method).

The Lagrange’s equation is :
d  T  T U
     Qi (5)
dt  x i  x i x i
where,
T - Kinetic energy of the system,
U - Potential energy of the system,
xi - independent generalized displacement vector,
 i -independent generalized velocity vector and
x
Qi- generalized force vector.
Deptt. Mech. Engg.,
Vibrations
1 1
T m1x 12  m2 x 22 (6)
2 2
1 1
U  K1x12  K 2 (x 2  x1 )2 (7)
2 2
 x1 
 xi    
x
 2
substitute Eqn.(6) and (7) in (5). The part differentials are given below.
T
 m1x 1
x 1
d  T 
   m1x 1
dt  x 1 
T
0
x1
U
 K 1x1  K 2 (x 2  x1 )( 1)
x1
U
 x1(K 1  K 2 )  K 2 x 2
x1
Substitute above differentials in Eqn. (5), to obtain the equations of motion.
m1x 1  (K 1  K 2 )x1  K 2 x 2  0
m2x 2  K 2 x1  K 2 x 2  0
The above equations are similar to the equations obtained by Newton’s method. So,
one can use any one method to obtain the Eqns of motions.
Solution of governing equations

It is possible to have pure harmonic free vibration for both the masses.
Let us assume
x1  A 1sin ωt  φ  (8)
x 2  A 2sin(ωt  φ) (9)
The above equations have to satisfy the governing equations of motions. Substitute
Eqns. (8) and (9) in (2 ) and (4).
(K 1 
 K 2 )  m1ω2 A1sin(ωt  φ)  K 2 A 2sin(ωt  φ)  0 (10)
 K 2 A1sin(ωt  φ)  (K 2  m2ω2 )A 2sin(ωt  φ)  0 (11)
In above equations sin(ωt  φ)  0
The above equations reduces to: (characteristic equation)
(K 1 
 K 2 )  m1ω2 A 1  K 2 A 2  0 (12)
 K 2 A1  (K 2  m2ω2 )A 2  0 (13)

Deptt. Mech. Engg.,
Vibrations
The solution of equations is:
(K1  K2 )  m1ω2  K2
.... 2 0 (14)
 K2 K 2  m 2ω
The above equation is referred as a characteristic determinant. Solving, we get :
m1m2ω 4   m2 (K1  K 2 )  m1K 2 ω2  K1K 2  0 (15)
 (K  K 2 ) K 2  2 K 1K 2
ω4   1  ω  0 (16)
 m1 m2  m1 m2
For simplification, let us consider :
K1  K 2  K
m1 m 2  m
The frequency equation changes to:
2
 2K K  2 K
ω4    ω  2  0 (17)
 m m m
 3K  K2
ω 4   ω2  2  0 (18)
m m
put ω2  λ , in the above equation:
 3K  K2
λ2   λ  2  0
m m
- b  b 2  4ac
λ1, λ 2  ω12 , ω 22 
2a
2
3K  3K  4K 2
    2
m m m
λ1, λ 2  ω12 , ω22 
2
3  5  mK
ω12 , ω22 
2
3K 5K 2

ω12 , ω22  m m2
2
3  5  mK and
3  5  mK
ω1  ω2 
2 2
ω1  0.61ωn and ω 2  1.61ωn radians/sec

Deptt. Mech. Engg.,
Vibrations
As the system has two natural frequencies, under certain conditions it may vibrate
with first or second frequencies, which are referred as principal modes of vibration.
First principal mode of vibration

The system vibrates with first fundamental natural frequency, i.e ω  ω1
For vibrations under Mode-I, consider.
A11-amplitude of first mass (m1) due to frequency ω1
A21-amplitude of second mass (m2) due to frequency ω1
Characteristic equations of the system changes to:
2K  mω A 2
1 11  KA 21  0 (19)
 KA 11  (K  mω12 )A 21  0 (20)
A 21
Let  μ1 be amplitude ratio, from Eqn. (19) we get,
A 11
A 21  2K  mω12 
μ1    (21)
A 11  K 
Substitute 1 in the above equation.
A 21
μ1   2  (0.61) 2  1.63 (22)
A 11
First modal vector is:
A11  A11  1 
 A 1          (23)
A21 μ1A11  1.63

Second principal mode of vibration
The system vibrates with first fundamental natural frequency, i.e ω  ω 2
For vibrations under Mode-II, consider
A12-amplitude of first mass (m1) due to frequency ω 2
A22-amplitude of second mass (m2) due to frequency ω 2
2K  mω A 2
2 12  KA 22  0 (24)
 KA12  (K  mω22 )A 22  0 (25)

Deptt. Mech. Engg.,
Vibrations
A 22
Let  μ2 be amplitude ratio, from Eqn. (24) we get,
A12
2K  mω A 2
2 12  KA 22  0 (26)
A 22  2K  mω22 
μ2    (27)
A12  K 
Substitute 2 in above equation,
A 22
μ2   2  (1.61)2  0.59 (28)
A 21
Second modal vector is:
A12  A12  1 
 A 2          (29)
A22  μ2A12   0.59

The modal matrix is:
A11 A12  1 1 
A  A1 A2   . .    . .  (30)
μ1A11 μ2A12  1.63  0.59

Mode shapes of the system
The given vibratory system has two principal modes, mode shapes of the system are
shown in Fig.3.
K1
B A11 A12
m1
1 1
x1
Node
K2
C
m2
A21= 1A11 A22= 2A12
x2
A21=1.63 A22=-0.59
Mode-I Mode-II
Fig.3 Mode shapes of the system
Deptt. Mech. Engg.,
Vibrations
Torsional Vibratory systems

A torsional system is a rotor system as shown in Fig.4.
Kt
1
J1
1
Kt2
J2
2
Fig.4 Examples of 2DOF torsional system
Obtain the equations of motion of the system shown in Fig.4.

K 1θ1 
Newton’s method J1θ 1
The Newton’s method use force balance equations to obtain governing equations. The
Disc-1
Force equilibrium diagram of 1 is shown in Fig.5.
given 2DOF torsional system
K 2 (θ 2  θ1 )

J2θ 2
Dr. S. K. Kudari, Professor 2 Session: I&II 03-04/04/07

Deptt. Mech. Engg., Disc-2
Fig.5 Force equilibrium diagram of 2DOF torsional system

Vibrations
From Force equilibrium diagram of disc 1

  K θ  K (θ  θ )  0
J1θ 1 1 1 2 2 1
  (K  K )θ  K θ  0
J1θ (31)
1 1 2 1 2 2
From Force equilibrium diagram of disc 2

  K (θ  θ )  0
J2θ 2 2 2 1
  K θ  K θ  0
J2θ (32)
2 2 1 2 2
Eqns.(31) and (32) are the governing Eqns. of the system.
Equivalent shaft for a torsional system

Many engineering applications we find stepped shaft as shown in Fig.6. For
vibration it is required to have an equivalent system for the analysis. In this section
how to obtain the torsionally equivalent shaft is illustrated.
JA JB
d1 d2 d3 d4
J1 J2 J3 J4
1 2 3 4
L1 L2 L3 L4
Fig.6. Stepped shaft
Let  be the twist in the shaft by application of torque T, and 1, 2, 3 and 4 be twists
in section 1, 2, 3 and 4 respectively.
θ  θ1  θ 2  θ 3  θ 4 (33)
From theory of torsion,
T Gθ
 (34)
J L
Where,
Deptt. Mech. Engg.,
Vibrations
πd4
J (35)
32
TL1 TL 2 TL 3 TL 4
θ    (36)
J1G1 J2G2 J3G3 J4G4
If material of shaft is same, then above equation can be written as:
32 T  L1 L 2 L3 L 4 
θ      (37)
π G  d14 d24 d34 d44 
If de and Le are equivalent diameter and lengths of the shaft, then:
L e  L1 L 2 L 3 L 4 
     (38)
de4  d14 d24 d34 d44 
4 4 4 4
d  d  d  d 
L e  L1 e   L 2  e   L 3  e   L 4  e  (39)
 d1   d2   d3   d4 
The equivalent shaft of a system shown in Fig.6 given by Eqn.(39) is shown in Fig.7.
JA JB
de
Le
Fig.7. Equivalent shaft of the system shown in Fig.6
Definite and semi-definite systems

A system, which is free from both the ends, is referred as semi-definite system.
Ex: Train, Turbo-generator, etc.
For semi-definite systems, the first natural frequency is zero. A simple semi-definite
linear and a torsional systems are shown in Fig.8.
x1 x2
K
(a) m m
K
(b) 1 2
Dr. S. K. Kudari, Professor J1 J2 Session: I&II 03-04/04/07

Deptt. Mech. Engg.,
Fig.8.
B. V. B. College Semi-definiteand
of Engineering systems (a) linear
Technology, and-(b)
Hubli torsional.
580031.
Vibrations
A system, which is fixed from one end or both the ends is referred as definite system.
A definite system has nonzero lower natural frequency. Various definite linear and a
torsional systems are shown in Fig.9.
(a)
(b)
K1 K1
m1 J1 1
x1
K2
K2
J2 2
m2
x2
x1 x2
K K K
(c) m m
Fig.9. Various definite systems
Example 1
For the torsional system shown in the Fig.10,
Deptt. Mech. Engg.,
Vibrations
(i) derive the equations of motion,

(ii) setup the frequency equation and obtain the fundamental natural frequencies
(iii) obtain the modal vectors and modal matrix
(iv) draw mode shapes of the system.
K
1 2
J1 J2
Fig.10. Turbo-generator
Solution:
Write the Equations of motions of the system, use Lagrange’s equation.
d  T  T U
    Qi (40)
  
dt  θi  θi θi
where,
1 2 1 2
T J1θ1  J2θ 2 (41)
2 2
1
U  K 2 (θ 2  θ1 )2 (42)
2
θ1 
 θi    
θ
 2
substitute Eqn. (41) and (42) in Eqn.(40) to get the equations of motion:
  Kθ  Kθ  0
J1θ (43)
1 1 2
J2θ 2  Kθ1  Kθ 2  0 (44)

Assuming the vibration of the system is SHM,
θ1  A 1sin ωt  φ  (45)
θ2  A 2sin(ωt  φ) (46)
The above equations have to satisfy the governing equations of motions Eqn. (43) and
(44). Simplifying, we get.
K  J ω A sin(ωt  φ)  KA sin(ωt  φ)  0
1
2
1 2 (47)
 KA 1sin(ωt  φ)  (K  J2ω 2 )A 2sin(ωt  φ)  0 (48)
In above equations
sin(ωt  φ)  0

Deptt. Mech. Engg.,
Vibrations
K  J ω A
1
2
1  KA 2  0 (49)
 KA 1  (K  J2ω2 )A 2  0 (50)
The above equations can be written in the determent form as:
K  J1ω2  K
.... 2 0 (51)
 K K  J2ω
The above equation is referred as a characteristic determinant. Solving, we get the
determinant,
J1J2ω 4   J1 K  J2K ω 2  0
(52)
K K
ω 4    ω 2  0 (53)
 J1 J2 
The above equation is referred as frequency equation. Solving the frequency
equations, we get.
 J  J2 
ω1  0 rad/s and ω2  K  1  rad/s.
 J1J2 
For simplification, let us consider,
J1 J2  J , (54)
2K
then ω1  0 rad/s and ω2  rad/s
J
As the system is semi-definite system, the estimated first natural frequency is found to
be ZERO. The system has two natural frequencies, under certain conditions it may
vibrate with first or second frequency, which are referred as principal modes of
vibration.
Now, the characteristic equations of the system due to condition in Eqn.(54) are:
K  J ω A
1
2
1  KA 2  0 (55)
 KA 1  (K  J2ω2 )A 2  0 (56)

The system vibrates with first fundamental natural frequency, i.e 1.
For vibrations under Mode-I, consider,
A11-amplitude of first disc (J1) due to frequency 1
A21-amplitude of second disc (J2) due to frequency 1
Deptt. Mech. Engg.,
Vibrations
K  J ω A
1
2
11  KA 21  0 (57)
 KA 11  (K  J2ω 2 )A 21  0 (58)
A 21
Let,  μ1 be amplitude ratio
A 11
Then, from Eqn. (57) one can obtain,
A 21  K  Jω12 
μ1    (59)
A 11  K 
Substitute 1 in above equation.
A 21
μ1  1
A 11
A11  A11  1

 A 1          (60)
A21 μ1A11  1
Second principal mode of vibration

For vibrations under Mode-II, consider,
A12-amplitude of first disc (J1) due to frequency 2
A22-amplitude of second disc (J2) due to frequency 2
K  J ω A
1
2
12  KA 22  0 (61)
 KA12  (K  J2ω2 )A 22  0 (62)
A 22
Let  μ2 is the amplitude ratio,
A12
From Eqn. (61) on can obtain,
A 21  K  Jω 22 
μ2   
A 11  K 
Substitute 2 in the above equation,
 2K 
A 21 K  J 
μ1   J   1
A 11 (63)
 K 
 
 
Deptt. Mech. Engg.,
Vibrations
A12  A12  1 
 A 2          (64)
A22  μ2A12   1
Modal matrix
A11 A12  1 1 
A  A1 A2   . .     (65)
μ1A11 μ2A12  1  1
Mode shapes of the system
The mode shapes obtained from modal matrix Eqn. (65) are shown in Fig.11.
K
1 2
J1 J2
Mode I 1 1
1
Mode II -1
Node
Fig.11. Mode shapes of the system

Various geared systems
A Turbo-generator geared system is shown in the fig.12. The analysis of this system is
complex due to the gears. The system can be made simple as discussed below.
Turbine
Gears
K1
J3
Generator
Shaft-1 K2
J1
J4
Shaft-2
Dr. S. K. Kudari, Professor Session:
J2I&II 03-04/04/07
Deptt. Mech. Engg.,
Fig.12 Turbo-generator geared system.
Vibrations
The speed ratio, n of the system is:

speed of turbine
n
speed of generator
For the system given in Fig. 12, the simplification can be made by,
(i) considering inertia of gears and (ii) neglecting inertia of gears.
Inertia of gears is considered

The system becomes 3 DOF system as shown in Fig.13.
Turbine Generator
K1 n2K
J2+n2J3
J1 J2
Fig.13 Turbo-generator geared system considering the inertia of gears
Inertia of gears is neglected

The system becomes 2 DOF system as shown in Fig.14.
J1 J2
K1 n 2K2
Turbine Generator
Fig.14springs
Two torsional Turbo-generator geared
are in series, systemthe
therefore neglecting
effectivethestiffness
inertia of
cangears
be obtained
from,
1  1  1
K eq K 1 n2K 2 (66)
Practice problems (Linear definite systems)

For the syetms shown in the Fig.15,
(i) derive the equations of motion,
(ii) setup the frequency equation and obtain the fundamental natural frequencies
(iii) obtain the modal vectors and modal matrix
(iv) draw mode shapes of the system.
Deptt. Mech. Engg.,
Vibrations
x1 x2
K K K K
K m m
m
x1
K
m K
x2 K
x1 x2
K K K K
m m
Fig.15 Linear vibratory systems
Practice problems (Torsional semi-definite systems)

K 2K
For the systems shown in figure, obtain natural frequencies and mode shapes
1 2
J1 J2
Turbine
Gears
K n=2
J3
Generator
Shaft-1 K
Dr. S. K. Kudari, Professor
J Session: I&II 03-04/04/07
Deptt. Mech. Engg., J4
Shaft-2
J
Fig.16 Torsional vibratory system.
Vibrations
Pendulum systems (double pendulum)

Estimate the natural frequencies of the double pendulum shown in the Fig.17. For
simplicity take m1=m2=m and l1=l2=l.
T
1
l1
l1
m1 m1g T
2
l2 l2
T
2
m2 m2g
Fig.17 Double pendulum. Fig.18 Static forces in Double pendulum.
Due to self weight of masses, the pendulum roads are in tension, the static forces in
the double pendulum is shown in the Fig.18. From this figure one can write,
T2  m2 g (67)
T1  m1g  T2 (68)
T1  m1g  m2g  (m1  m2 )g (69)
Above equations holds good for small oscillations.
When the system is disturbed, it starts vibrating, a position at any instant of
time with forces is shown ion Fig.19.

Deptt. Mech. Engg.,
Vibrations
1 l
1
T
1 m1x 1
T
2 l2
2
T
x1 2
m2x 2
x2
Fig.19 Dynamic forces on Double pendulum

Consider x1 and x2 are generalized co-ordinates. From Fig.19, the relation between x
and  can be written as:
x
sinθ1  θ1  1 (70)
l1
x 2  x1
sinθ 2  θ 2  (71)
l2
Resolving the forces on the mass m1, (Ref. Fig.19) we get,
m1x 1  T1θ1  T2θ 2  0 (72)
Substitute, Eqns. (67), (69), (70), and (71) in eqns. (72).
x x  x1
m1x 1  T1 1  T2 2 0 (73)
l1 l2
x1 x  x1
m1x 1  (m1  m2 )g  (m2g) 2 0 (74)
l1 l2
Substitute m1=m2=m and l1=l2=l in the above Eqn.
x x  x1
mx 1  (2m)g 1  (mg) 2 0 (75)
l l
 3mg   mg 
mx 1    x1   x 2  0 (76)
 l   l 
Above Eqn. is first Eqn. of motion.
Resolving the forces on the mass m2, (Ref. Fig.19) we get,
m2x 2  T2θ 2  0 (77)
Substitute, Eqns. (67), (69), (70), and (71) in eqns. (77).
x  x1
m2x 2  T2 2 0 (78)
l2
Deptt. Mech. Engg.,
Vibrations
 x  x1 
m2x 2  m2g 2   0 (79)
 l2 
Substitute m1=m2=m and l1=l2=l in the above Eqn.
 mg   mg 
mx 2    x1   x 2  0 (80)
 l   l 
Above Eqn. is second Eqn. of motion.
Eqns.(76) and (80) are governing equations of motion of the system.
Solution to governing eqns.:

Solution to governing eqns. can be obtained by considering the response of each mass
as SHM:
x1  A 1sin ωt  φ  (81)
x 2  A 2sin(ωt  φ) (82)
The above equations have to satisfy the governing equations of motions Eqns.(76) and
(80). Substitute eqns. (81) and (82) in Eqns.(76) and (80).
 3mg 2 mg
 l  mω  A 1sin(ω  φ)  l A 2sin(ω  φ)  0 (83)
mg  mg 2
 A 1sin(ω  φ) 
 l  mω  A 2sin(ω  φ)  0 (84)
l
Therefore, the above equations reduces to: (characteristic equation)
 3mg 2 mg
 l  mω  A 1  l A 2  0 (85)
mg  mg 
 A1    mω2  A 2  0 (86)
l  l 
The above Eqns can be written in determinant form as:
3mg 2 mg
 mω 
l .... l 0 (87)
mg mg 2
  mω
l l
The above equation is referred as a characteristic determinant, Solving, we get :
4m 2ω 2 g 2m 2g2
mω 2 4
 (88)
l l2
The above equation is referred as a frequency equation
Deptt. Mech. Engg.,
Vibrations
Solving Eqn. (88), we get:

Natural frequencies of the system
g g
ω1  0.27 radians/s ω2  3.73 radians/s
l l
Modal vectors and the mode shapes can be obtained by usual meaner, as explained
earlier.
String systems
Obtain the natural frequencies of the string system shown in the Fig.20. For simplicity
take m1=m2=m and l1=l2=l3=l
m1 m2
l1 l2 l3
Fig.20 String system
For the above system, small angular oscillations, it can be assumed that the tensions in
the string (T) do not change. The free body diagram of the system at any instant of
time is shown in Fig.21.
m1
T m2
T x1 2 T
1 x2 3
l1 l2 l3
Fig.21 Free body diagram of the system at time, t
Consider x1,x2 as generalized co-ordinates, from Fig.21, the relations between  and x
are:
x
θ1  1
l
x  x2
θ2  1
l
x
θ3  2
l
Deptt. Mech. Engg.,
Vibrations
Considering the force equilibrium of first mass, m1

mx 1  Tθ1  Tθ 2  0 (89)
Substitute for angular motions 1, 2, 3 from above eqns.
x x  x2
mx 1  T 1  T 1 0
l l
 2T  T
mx 1    x1    x 2  0 (90)
 l  l
Considering the force equilibrium of second mass, m2
mx 2  Tθ 2  Tθ 3  0 (91)
Substitute for angular motions 1, 2, 3 from above eqns.
x  x2 x
mx 2  T 1 T 2 0
l l
T  2T 
mx 2    x1   x 2  0 (92)
l
   l 
Eqns. (90) and (92) are two equations of motion of the system.

Solution to governing eqns. can be obtained by considering the response of each mass
as SHM:
x1  A 1sin ωt  φ  (92)
x 2  A 2sin(ωt  φ) (93)
The above equations have to satisfy the governing equations of motions Eqns.(90) and
(92). Substitute eqns. (92) and (93) in Eqns.(90) and (92).
 2T 2 T
 l  mω  A 1sin(ω  φ)  l A 2 sin(ω  φ)  0 (94)
T  2T 
 A 1sin(ω  φ)    mω2  A 2sin(ω  φ)  0 (95)
l  l 
Therefore, the above equations reduces to: (characteristic equation)
 2T 2 T
 l  mω  A 1  l A 2  0 (96)
T  2T 
 A1    mω 2  A 2  0 (97)
l  l 

Deptt. Mech. Engg.,
Vibrations
2T 2 T
 mω 
l .... l 0 (98)
T 2T 2
  mω
l l
4Tmω2 3T 2
m2ω 4   2 (99)
l l
The above equation is referred as a frequency equation. Solving Eqn. (99), we get:
Natural frequencies of the system
T 3T
ω1  radians/s ω2  radians/s
ml ml
with first or second frequency, which is referred as principal modes of vibration.

For vibrations under Mode-I, consider,
A11-amplitude of first mass (m1) due to frequency 1
A21-amplitude of second mass (m2) due to frequency 1
The characteristic Eqns.(96) and (97) of the system changes to:
 2T 2 T
 l  mω1  A 11  l A 21  0 (100)
T  2T 
 A 11    mω12  A 21  0 (101)
l  l 
A 21
Let  μ1 is amplitude ratio. To compute μ1 one can use any of the above eqns.
A 11
Consider Eqn.(100), we get μ1 as:
 2T 
 mω12 
A 21  l
μ1    (102)
A 11  T 
 
 l 
Substitute 1 in the above Eqn.

Deptt. Mech. Engg.,
Vibrations
 2T T 
m 
A 21  l ml   1
μ1   (103)
A 11  T 
 
 l 
A11  A11  1

 A 1          (104)
A21 μ1A11  1

Secondprincipal mode of vibration
For vibrations under Mode-II, consider,
A12-amplitude of first mass (m1) due to frequency 2
A22-amplitude of second mass (m2) due to frequency 2
The characteristic Eqns.(96) and (97) of the system changes to:
 2T 2 T
 l  mω2  A 12  l A 22  0 (105)
T  2T 
 A12    mω22  A 22  0 (106)
l  l 
A 22
Let  μ2 is amplitude ratio. To compute μ 2 one can use any of the above eqns.
A 12
Consider Eqn.(105), we get μ 2 as:
 2T 
 mω22 
A 22  l
μ2    (107)
A12  T 
 
 l 
Substitute 2 in the above Eqn.
 2T 3T 
 m 
A
μ2  21   l ml   1 (108)
A 11  T 
 
 l 

Deptt. Mech. Engg.,
Vibrations
A12  A12  1 
 A 2          (109)
A22  μ2A12   1
Modal matrix
A11 A12  1 1 
A  A1 A2   . .     (110)
μ1A11 μ2A12  1  1
Mode shapes of the system are shown in Fig.22.
m1 m2
l1 l2 l3
1 1
Mode I
1
Mode II -
1
Fig.22. Mode shapes of the system

Deptt. Mech. Engg.,
Vibrations
CO-ORDINATE COUPLING AND PRINCIPAL COORDINATES

Example-1
Obtain the equations of motion and natural frequencies of the system shown in the
Fig.23. The vibration is restricted in plane of paper.
m -mass of the system
J -mass MI of the system
G -centre of gravity
m,J
G
K1 K2
a b
m,J
Fig.23. A 2 dof vibratory system
G Static equilibrium
. x is in Cartesian and  is in
The system has two generalized co-ordinates, x andline
Polar co-ordinate systems. For small disturbance the system moves as shown in
Fig.24(a). The amount displacements in two springs are ashown in Fig.24(b).
b
K1 K2 (x-a)
x
(x+b)
G  03-04/04/07
Dr. S. K. Kudari, Professor Session: I&II
Deptt. Mech. Engg.,
B. V. B. Collegea of Engineering
b and Technology, Hubli - 580031.
Fig.24 (a) system under vibration (b) displacements in springs at point 1 and 2
Vibrations
Equations of motion
d  T  T U
    Qi (111)
dt  x i  x i x i
generalized co-ordinates are:
x 
 xi   
θ 
Kinetic energy of the system is:
1 1
T mx 2  Jθ 2 (112)
2 2
Potential energy of the system is:
1 1
K 1 x - aθ   K 2  x  bθ 
2 2
U (113)
2 2
First Lagrange’s Eqn is:
d  T  T U
    Q1 (114)
dt  x  x x
Substitute Eqn. (112) and (113) in (114)
d  T 
   mx
dt  x 
T
0
x
U
 K 1  x - aθ  (1)  K 2  x  bθ  (1)
x
1st Equation of motion is:

Deptt. Mech. Engg.,
Vibrations
U
 K 1  x - aθ  (1)  K 2  x  bθ  (1)
x
U
 K 1x - K 1aθ  K 2 x  K 2bθ
x
U
 x(K1  K 2 )  θ(K1a - K 2b)
x
mx  (K1  K 2 )x - (K1a - K 2b)θ  0 (115)
Second Lagrange’s Eqn is:
d  T  T U
    Q2 (116)
dt  θ  θ θ
Substitute Eqn. (112) and (113) in (116)
  (K a  K b)x  (K a 2  K b 2 )θ  0
Jθ (117)
1 2 1 2
eqns.(115) and (117) are Eqns of motion

The above Eqns. can be written in matrix form.
m 0x  (K1  K2 )  (K1a  K2b)x 0

 0 J    (K a  K b) (K a2  K b2 )θ  0
 θ  1 2 1 2    
(118)
M x   K  x   0
where, M -Mass/inertia matrix
K  - Stiffness matrix
 x -generalized displacement vector
 x  -generalized acceleration vector
Stiffness matrix shows that co-ordinate x and  are dependent on each other. Any
change in x reflects in change in . As seen from the matrix, the equations of motion
are coupled with stiffness. This condition is referred as STATIC COUPLING.
coupling in mass matrix is referred as DYNAMIC COUPLING
From the above equation Eqn. (118), it can be seen that system do not have dynamic
coupling But, it has static coupling
If the system has a condition K1a=K2b, then, stiffness matrix reduces to:

Deptt. Mech. Engg.,
Vibrations
m 0x (K1  K2 ) 0 x 0

 0 J    0 (K a2  K b2 )θ  0 (119)
 θ  1 2    
Therefore the condition K1a=K2b, uncouples the stiffness matrix.
In Eqn. (119) one can find, the system do not have either Dynamic or Static coupling,
the the Eqns. of motion can be written as:
mx  (K1  K 2 )x  0 (120)
Contains only one coordinate, x
  (K a 2  K b2 )θ  0
Jθ (121)
1 2
Contains only one coordinate, 

Under such conditions, x and  are independent of each other and are referred as
PRINCIPAL COORDINATES.
Solution of uncoupled Eqns. of motion:

The solution of un-coupled eqns of motion is simple, is solving single dof system as
shown below. From Eqn.(120).
K  K2 
x   1 x  0 (122)
 m 
K1  K 2
ω1  rad/s
m
From Eqn.(121)
   K 1a  K 2b θ  0
2 2
θ   (122)
 J 
K1a 2  K 2b 2
ω2  rad/s
J
Example-2
Obtain the equations of motion of the system shown in the Fig.25, check for dynamic
and static coupling of co-ordinates. The centre of gravity is away from geometric
centre by distance e. The vibration is restricted in plane of paper
m -mass of the system
J -mass MI of the system

Deptt. Mech. Engg.,
Vibrations
G -centre of gravity
C -centre of geometry
m,J
G C
K1 K2
a b
Fig.25. A 2 dof vibratory system having unbalance
Static equilibrium
line
a b
K1(x-a) x x+e
K1(x+b)

G C
Fig.26 displacements in springs at point 1 and 2

due to vibration.
The system has two generalized co-ordinates, x and . x is in Cartesian and  is in

Polar co-ordinate systems. For small disturbance the system the amount
displacements in two springs are shown in Fig.26.
Due to some eccentricity e, the changes are:
x=x+e
J=J+me2
Substitute in Eqns. of motion of earlier problem having e=0:
Equations of motion for system having e=0, (Example-1) are:

mx  (K1  K 2 )x - (K1a - K 2b)θ  0
  (K a  K b)x  (K a 2  K b 2 )θ  0
Jθ 1 2 1 2
Substitute x=x+e and J=J+me2=Jn in above Eqns.

 )  (K  K )x - (K a - K b)θ  0
m(x  eθ 1 2 1 2

Deptt. Mech. Engg.,
Vibrations
  (K  K )x - (K a - K b)θ  0
mx  me θ (123)
1 2 1 2
  (K a  K b)x  (K a 2  K b 2 )θ  0
Jnθ (124)
1 2 1 2
Matrix form of Eqns. of motion is:
m mex  (K1  K2 )  (K1a  K2b)x 0

 0 J     (K a  K b) (K a2  K b2 )θ  0 (125)
 n θ  1 2 1 2    
Eqn.(125) indicates that the system has both dynamic and static coupling. If
eccentricity, e=0, one can get dynamic uncoupling.
Example-3
Derive expressions for two natural frequencies for small oscillation of pendulum
shown in Fig.27 in plane of the paper. Assume rods are rigid and mass less.
a a 1 a 2 a
K
m J1θ 1
Ka(2-1)
mg a
a
m 
J2θ 2
mg
Fig.27. A pendulum system Fig.28. Equilibrium diagram
For small oscillations of the system the equilibrium diagram is shown in Fig.28.
For first mass:
  mg(asinθ )  Ka(θ  θ )(acosθ )  0
J1θ (126)
1 1 2 1 1
as  is smaller
  mgaθ  Ka 2 (θ  θ )  0
J1θ 1 1 2 1

Deptt. Mech. Engg.,
Vibrations
  mgaθ  Ka 2θ  Ka2θ  0
(ma 2 )θ 1 1 2 1
The First Eqn. of motion is:

  (mg  Ka)θ  Kaθ  0
ma θ (127)
1 1 2
For second mass:

  mg(2asinθ )  Ka(θ  θ )(acosθ )  0
J2θ (128)
2 2 2 1 2
as  is smaller
m(2a) θ
2
1  2mgaθ 2  Ka 2θ 2  Ka 2θ1  0
Second Eqn. of motion
(4ma)θ 1  Kaθ1  (2mg  Ka)θ2  0 (129)
Eqns. of motion in matrix form

ma 0  1  (mg  Ka)  Ka θ1  0
θ
 0 4ma     Ka (2mg  Ka)θ   0 (130)
 θ2   2   
For static coupling Ka=0, which is not possible.

Assume SHM
x1  A 1sin ωt  φ 
x 2  A 2sin(ωt  φ)
The above equations have to satisfy the governing equations of motions Eqns. (127)
and (129).
(mg  Ka)  maω A sin(ω  φ)  KaA sin(ω  φ)  0
2
1 2 (131)
 KaA sin(ω  φ)  (2mg  ka)  4maω A sin(ω  φ)  0
1
2
2 (132)
Characteristic Eqns. are:
(mg  Ka)  maω A  KaA  0
2
1 2 (133)
 KaA  (2mg  ka)  4maω A  0
1
2
2 (134)

Deptt. Mech. Engg.,
Vibrations
(mg  Ka)  maω . . . .  Ka

2
0 (135)
 Ka (2mg  Ka)  4maω 2

(mg  Ka)  maω (2mg  Ka)  4maω   Ka
2 2 2
(136)
The above Eqn. is referred as Frequency equation. Solve the frequency Eqn. for
Natural frequencies of the system ω1....and... ω 2 .
with first or second frequencies, which are referred as principal modes of vibration.
The modes of vibrations can be obtained by the procedure as shown in earlier
problems.
Forced Vibrations and Applications

Consider a Two dof system with a forcing function F1  F0 sinωt as shown in Fig.29.
K
1
F1 m1
x1
2
m2
x2
Fig.29 Two dof system with forcing function F1 on mass 1
The eqns of the motion of the system can be obtained by force balance method. The
force equilibrium diagram is shown in Fig.30.
K1x1
F1  F0 sinωt m1 m1x 1
K2(x2-x1)
Deptt. Mech. Engg.,
m2x 2- 580031.
m2 Hubli
B. V. B. College of Engineering and Technology,
Fig.30 Force equilibrium diagram of the system

Vibrations
From Force equilibrium diagram of mass m1:

m1x 1  K 1x1  K 2 (x 2  x1 )  F0 sinωt
m1x 1  (K 1  K 2 )x1  K 2 x 2  F0 sinωt (137)
From Force equilibrium diagram of mass m2 ;
m2x 2  K 2 (x 2  x1 )  0
m2x 2  K 2 x1  K 2 x 2  0 (138)
It is possible to have pure harmonic free vibration for both the masses. Therefore,
Let us assume.
x1  A 1sinωt
x 2  A 2sinωt where  is the forcing frequency on the system.
Be the forced response of the system, where A 1 and A2 are the amplitudes to be
obtained.
The above equations have to satisfy the governing equations of motions.
(K 1 
 K 2 )  m1ω2 A 1sin(ωt  φ)  K 2 A 2sin(ωt  φ)  F0 sinωt (139)
 K 2 A1sin(ωt  φ)  (K 2  m2ω2 )A 2sin(ωt  φ)  0 (140)
In above equations,
sin(ωt  φ)  0
(K 1 
 K 2 )  m1ω2 A 1  K 2 A 2  F0 sinωt (141)
 K 2 A 1  (K 2  m2ω2 )A 2  0 (142)
From above equations obtain A1 and A2 by Cramer’s rule
.F0  K 2
........
.0 K 2  m2ω2 (143)
A1 
Δ

Deptt. Mech. Engg.,
Vibrations
(K1  K 2 )  m1ω2 F0 .
........
 K2 0 (144)
A2 
Δ
where D is the determinant of characteristic equations.
(K1  K2 )  m1ω2  K2
Δ .... 2 0 (145)
 K2 K 2  m2ω
Solving,
 
Δ  (K1  K 2 )  m1ω2 K 2  m2ω2  K 22  (146)
If one considers the two vibratory systems separately as shown in Fig.31, the system 1
is a main system and system 2 is an secondary system. This system can be used as
Dynamic vibration absorber or Tuned damper by using the amplitude Eqns (143) and
(144).
If the system has to be used as Dynamic vibration absorber, the amplitude of vibration
of mass m1, i.e A1=0.
.F0  K 2
........
.0 K 2  m2ω2 (147)
A1  0
Δ
K1 System-1
F1 m1
x1
K2
System-2
Dr. S. K. Kudari, Professor m2 Session: I&II 03-04/04/07

Deptt. Mech. Engg., x2
Fig. 31 Concept of vibration absorber

Vibrations
.F0  K2
.... 0
.0 K2  m2ω 2
F0 (K 2  m2ω2 )  0
K 2  m 2ω 2  0
K2
ω2 
m2
K2
ω rad/s (148)
m2
The above Eqn. is the natural frequency of secondary or absorber system.
Excitation frequency of the system is equal to natural frequency of absorber system.
K2
ω ω2 (149)
m2
This shows that if excitation frequency of the system is equal to natural frequency of
absorber system, then vibration of the main system is zero.
Undesired maximum vibrations can occur only when main system is under resonance,
or near it i.e ω1  ω
So, to reduce undesired vibration of main system mass m1, we choose K 2, m2 in such
a way that ω1 ω 2 .
K1 K2 K1 K 2
 OR  (150)
m1 m2 m1 m2
The amplitude A1 Eqn to be solved to obtain the frequencies,

Deptt. Mech. Engg.,
Vibrations
.F0  K 2
........
.0 K 2  m2ω2
A1 
Δ
F0 (K 2  m2ω2 )
A1 
 
(K 1  K 2 )  m1ω2 K 2  m2ω2  K 22 
F0 K1 K2
If δ st  and ω1  and ω2 
K1 m1 m2
Then,
2
ω
1 -  
A1  ω2 
 (151)
δst  K2  ω    ω   K 2
2 2
(1  )    1     
 K1  ω1    ω2   K 1
Without
absorber With
absorber
A1
δ st
Ω1 ω Ω2
ω1
Fig.32. Plot of Equation 151, considering with and
with out absorber.
To find Ω1 and Ω 2
Deptt. Mech. Engg.,
Vibrations
If frequency equation is zero, two masses have infinite amplitude of vibrations. The
Eqn. is quadratic in 2, therefore there are two values of  for which amplitude of the
system is infinite. Solve for frequency equation Δ.
(K1  K2 )  m1ω2  K2
Δ .... 2 0
 K2 K 2  m 2ω
Δ  (K1  K 2 )  m1ω2 K 2  m2ω2   K 22  0
m1m2ω 4   (K1  K 2 )m2  K 2m1 ω2  K1K 2  0
m1m2 4  K m m 
ω  (1  2 ) 2  1 ω2  1  0
K 1K 2  K1 K 2 K1 
For the absorber system, we have
K1 K 2

m1 m2
m2 K 2 mass of absorber system
 μ =Mass ratio (152)
m1 K1 mass of main system
m1m2 4  K m m 
ω  (1  2 ) 2  1 ω2  1  0
K 1K 2  K1 K 2 K1 
m1m2 4 ω4 ω4
ω   4  r4
K1K 2 K1 K 2 ω2
m1 m2
ω2
r 4  (1  μ)  1 1 0
 K2 
 
 m2 
r 4   2  μ r 2  1  0
The above Eqn. is quadratic in r2
2
Ω   μ  μ2 
r , r   1,2   1 
1
2 2
2   μ   (153)
ω
 2   2  4

Deptt. Mech. Engg.,
Vibrations
Ω2
K
m
 ω2  ω1 
 Ω   
   ωn 
 ω2 
Ω1
K
m 0.25 0. 5 0. 75 1.0
μ  m2 /m1
Fig.33. Plot of Equation 153
The Fig.33 indicates that, if mass ratio is greater the spread between the two resonant
frequencies is greater. The plot is used to design the absorber system to a main
vibratory system to reduce the vibrations of a main system.
CHAPTER-8
MULTI DEGREE OF FREEDOM SYSTEMS
Topics covered:
Eigen values and Eigen vectors
Approximate methods
(i) Dunkerley’s method
(ii) Rayleigh’s method
Influence co-efficients
Numerical methods
(i) Matrix iteration method
(ii) Stodola’s method
(iii) Holzar’s method

Deptt. Mech. Engg.,
Vibrations
1. Eigen values and Eigen vectors

In vibration problems Eigen values are the natural frequencies and the Eigen vectors
are modal vectors. This method is a basic tool, which can be used to analyse any
vibratory problems.
Example-1
Obtain natural frequencies and modal vectors and mode shapes of the system shown
in Fig.1, using eigen value method.
K1
m1
x1
K2
m2
x2
K3
m3
x3
Fig.1 Linear vibratory system
The equations of motions of the system can be obtained by Newton’s or Lagrange’s

method.
The governing equations of motion of the system shown in Fig.1 are:
m1x 1  (K 1  K 2 )x1  K 2 x 2  0 (1)
m2 x 2  K 2 x1  (K 2  K 3 )x 2  K 3 x 3  0 (2)
m3 x 3  K 3 x 2  K 3 x 3  0 (3)
The above equations can be written in matrix form as:

Deptt. Mech. Engg.,
Vibrations
m1 0 0 x1  (K1  K2)  K2 0 x1  0

 0 m 0 x     K (K  K )  K x   0
   2  2  2 2 3 3   2    (4)
 
 0 0 m3x3  0  K3 K3 x3 0
    
M x   K  x   0 (5)
where, M -Mass/inertia matrix
K  - Stiffness matrix
 x -generalized displacement vector
 x  -generalized acceleration vector
Eqn.(5) can be written as:
 x   M 1 K  x   0 (6)
 x  D x   0 (7)
where, D - is referred as Dynamic matrix
M 1  AdjM (8)
M
For harmonic analysis with frequency ,

 x   ω 2  x (9)
substitute (8) in (7)
D x  ω 2  x 0 (10)
substitute ω  λ in above Eqn.
2
D x  λ x  0 (11)
where, I -Identity matrix
Eigen values can be obtained by,
 λI - D   0
(12)
For simplification, let us consider,
K 1  K 2  K 3  K and m1 m 2 m 3  m
Deptt. Mech. Engg.,
Vibrations
The equations in matrix form changes to:
m 0 0 x1   2K  K 0 x1  0

0 m 0 x    K 2K  Kx   0
    2    2   
    
0 0 mx3   0  K K x3  0
(13)
We have D  M K 
1
AdjM
M 1 
M
M  m3
m2 0 0  1 0 0
1   1 
M 1
 3 0 m 2
0 0 1 0
m m
0 0 m2  0 0 1

1 0 0 2K -K 0 
1 
D  0 1 0 - K 2K - K 
m
0 1  0 -K K 
2 -1 0
K 
 D  - 1 2 - 1
m
 0 - 1 1 
Eigen values
Eigen values can be obtained by,
 λI - D   0
1 0 0 2 -1 0
K 
λ 0 1 0 - - 1 2 - 1  0
m
0 0 1  0 - 1 1 
(λ - 2K/m) - K/m 0 

 - K/m (λ  2K/m) - K/m   0

 0 - K/m (λ  K/m)

Deptt. Mech. Engg.,
Vibrations
Solving the above eqn.,

K K2 K3
λ 3  5λ 2  6λ 2  3  0 (14)
m m m
Solve the above Eqn. to get three values of l,
K K
λ1  ω12  0.198 ω1  0.44 rad/s
m m
K K
λ 2  ω22  1.55 ω2  1.24 rad/s
m m
K K
λ 3  ω32  3.24 ω3  1.80 rad/s
m m
Eigen vectors
For obtaining Eigen vectors consider the equation
 λI - D  x  0
 λI - D  A sinωt 0 (15)
 λI - D  A  0 (16)
where,  A - eigen vector or modal vector
First modal vector,

 λ1I - D  A 1  0 (17)
 1 0 0  2 - 1 0  A11  0
0.198K   K      
 m 0 1 0 - m - 1 2 - 1. A21  0
 0 0 1  0 - 1 1  A31 0

Deptt. Mech. Engg.,
Vibrations
 1.802 1 0  A11  0

 1  1.802 1 . A   0
   21  
 0 1  0.802 A31 0
Solving the above Eqn,
 1.802A 11  A 21  0 (18)
A 11  1.802A 21  A 31  0 (19)
A 21  0.802A 31  0 (20)
the first eigen vector,
A 11 
 
 A 1  A 21 
A 
 31 
The above eqn in terms of amplitude ratio can be written as:
 
A11 
 
 A 21 
 A1   A 
 11 

 A 31 
 A 11 
 
From Eqns. (18),(19) and (20), we get,
A 21  1.802
A11
A 31
 2.247
A11

Deptt. Mech. Engg.,
Vibrations
 
A11 
  1 
 A1   A 21 A   1.802  (21)
 11  2.247
 A 31   
 A11 
 
It is the modal vector in terms of amplitude ratios.
Second modal vector,

 λ 2 I - D  A 2 0
 1 0 0  2 - 1 0  A12  0
1.55K   K      
0 1 0 -
 m   m   - 1 2 - 1 .  A 22   0
 0 0 1  0 - 1 1  A32  0
 0.445 1 0  A12  0

 1  0.445 1 . A   0
   22   
 0 1 0.55 A32  0
 0.445A 12  A 22  0 (22)
A12  0.445A 22  A 32  0 (23)
A 22  0.55A 32  0 (24)
A 12 
 
 A 2  A 22 
A 
 32 
Deptt. Mech. Engg.,
Vibrations
In terms of amplitude ratio,

 
A 12 
 
 A 22 
 A 2   A 
 12 

 A 32 
 A12 
 
A 22  0.445
A12
A 32
 -0.80
A 12
 
A12 
  1 
 A 2   A 22 A   0.445  (25)
 12  - 0.80
 A 32   
 A12 
 
Third modal vector

 λ3 I - D A 3 0
 1 0 0  2 - 1 0  A13  0
3.247K   K      
 m 0 1 0 - m - 1 2 - 1. A23   0
 0 0 1  0 - 1 1  A33  0

Deptt. Mech. Engg.,
Vibrations
1.247 1 0  A13  0

 1 1.247 1 . A   0
   23   
 0 1 2.247 A33  0
Solving the above Eqn.
1.247A 13  A 23  0 (26)
A 23  2.247A 33  0 (27)
A 13  1.247A 23  A 33  0 (28)
A 13 
 
 A 3  A 23 
A 
 33 
 
A 13 
 
 A 23 
 A 3   A 
 13 

 A 33 
 A 13 
 
A 23
 -1.247
A13
A 33
 0.55
A 13
 
A13 
  1 
 A 3   A 23 A   - 1.247 (29)
 13  0.55 
 A 33   
 A13 
 
Modal vectors:
Deptt. Mech. Engg.,
Vibrations
1 
 
 A 1  1.802 
2.247
 
1 
 
 A 2  0.445 
- 0.80 
 
1 
 
 A 3  - 1.247 
0.55 
 
Modal matrix:
 1 1 1 
1.802 0.445  1.247
 (30)
2.247  0.80 0.55 
Mode Shapes
K1
m1
x1
K2
m2
x2
K3
m3
x3 Mode-I Mode-II Mode-III
Fig.2 Mode shapes of the system
2. Influence co-efficents
It is the influence of unit displacement at one point on the forces at various points of a
multi-DOF system.
OR
It is the influence of unit Force at one point on the displacements at various points of
a multi-DOF system.

Deptt. Mech. Engg.,
Vibrations
The equations of motion of a multi-degree freedom system can be written in terms of

influence co-efficients. A set of influence co-efficents can be associated with each of
matrices involved in the equations of motion.
M x   K  x   0
For a simple linear spring the force necessary to cause unit elongation is referred as
stiffness of spring. For a multi-DOF system one can express the relationship between
displacement at a point and forces acting at various other points of the system by
using influence co-efficents referred as stiffness influence coefficents
The equations of motion of a multi-degree freedom system can be written in terms of

inverse of stiffness matrix referred as flexibility influence co-efficients.
Matrix of flexibility influence co-efficients = K  1
The elements corresponds to inverse mass matrix are referred as flexibility
mass/inertia co-efficients.
Matrix of flexibility mass/inertia co-efficients =  M 1
The flexibility influence co-efficients are popular as these coefficents give elements of
inverse of stiffness matrix. The flexibility mass/inertia co-efficients give elements of
inverse of mass matrix
Stiffness influence co-efficents.

For a multi-DOF system one can express the relationship between displacement at a
point and forces acting at various other points of the system by using influence co-
efficents referred as stiffness influence coefficents.
F  K  x
k 11 k 12 k13 
K   k 21 k 22 k 32 
k 31 k 32 k 33 
wher, k11, ……..k33 are referred as stiffness influence coefficients
k11-stiffness Kinfluence coefficient at point 1K due to a unit deflection at point 1
1 1 K1
k21- stiffness influence coefficient at point 2 due to a unit deflection at point 1
k11 m1 K12 at point k13
m1 3 due to a unit deflection
k31- stiffness influence coefficient m1at point 1
x1=1 Unit x1=0 x1=0
Example-1.K2 K2 K2
Obtain the stiffness coefficients of the system shown in Fig.2.
k21 m2 k22 m2 k23 m2
x2=0 x2=1 Unit x2=0
K3 K3 K3
k31 m3 k32 k33
m3 m3
x3=0
Dr. S. K. Kudari, Professor x3=0 Session: I&IIx 03-04/04/07
=1 Unit
3
Deptt. Mech. Engg.,
(a) (b)
B. V. B. College of Engineering and Technology, Hubli - 580031.(c)
Fig.3 Stiffness influence coefficients of the system

Vibrations
I-step:
Apply 1 unit deflection at point 1 as shown in Fig.3(a) and write the force equilibrium
equations. We get,
k 11  K 1  K 2
k 21  K 2
k 31  0
II-step:
Apply 1 unit deflection at point 2 as shown in Fig.3(b) and write the force equilibrium
equations. We get,
k 12  -K 2
k 22  K 2  K 3
k 31  -K 3
III-step:
Apply 1 unit deflection at point 3 as shown in Fig.3(c) and write the force equilibrium
equations. We get,
k 13  0
k 23  -K 3
k 33  K 3
k 11 k 12 k13 
K   k 21 k 22 k 32 
k 31 k 32 k 33 
 K 1  K 2  - K2 0 
K    - K 2  K 2  K 3  - K 3 
 0 - K3 K 3 
Deptt. Mech. Engg.,
Vibrations
From stiffness coefficients K matrix can be obtained without writing Eqns. of motion.
Flexibility influence co-efficents.
F  K  x
 x  K  1F
 x   αF
where,  α - Matrix of Flexibility influence co-efficents given by
α11 α12 α13 
 α  α21 α22 α32 
α31 α32 α33 
wher, 11, ……..33 are referred as stiffness influence coefficients
11-flexibility influence coefficient at point 1 due to a unit force at point 1
21- flexibility influence coefficient at point 2 due to a unit force at point 1
31- flexibility influence coefficient at point 3 due to a unit force at point 1
Example-2.
Obtain the flexibility coefficients of the system shown in Fig.2.
I-step:
Apply 1 unit Force at point 1 as shown in Fig.4(a) and write the force equilibrium
equations. We get,
1
α11  α 21  α 31 
K1
II-step:
Apply 1 unit Force at point 2 as shown in Fig.4(b) and write the force equilibrium
equations. We get,
1 1
α 22  α 32  
K1 K 2
III-step:
Apply 1 unit Force at point 3 as shown in Fig.4(c) and write the force equilibrium
equations. We get,
1 1
α 23  
K1 K 2
1 1 1
α33   
K1 K 2 K 3
Therefore,
Deptt. Mech. Engg.,
Vibrations
1
α11  α 21  α12  α31  α13 
K1
1 1
α 22  α32  α23  
K1 K 2
1 1 1
α33   
K1 K 2 K 3
K1 K1 K1
F1=0 m1 F1=0 m1 F1=0 m1

x1=11 x1=12 x1=13
K2 K2 K2
F2=1 m2 F2=1 m2 F2=1 m2

x2=21 x2=22 x2=23
K3 K3 K3
F3=0 m3 F3=0 m3 F3=0 m3

x3=31 x3=32 x3=33
(a) (b) (c)
Fig.4 Flexibility influence coefficients of the system
For simplification, let us consider : K 1  K 2  K 3  K

1 1
α11  α 21  α12  α31  α13  
K1 K
1 1 2
α22  α32  α23 
 
K K K
1 1 1 3
α33    
K K K K
α11 α12 α13 
 α  α21 α22 α32 
α31 α32 α33 
1 1 1
1
 α  1 2 2
K
1 2 3
 α  K 
1

Deptt. Mech. Engg.,
Vibrations
In Vibration analysis if there is need of K  1 one can use flexibility co-efficent

matrix.
Example-3
Obtain of the Flexibility influence co-efficents of the pendulum system shown in the
Fig.5.
 T
l l
11 F=1
m m
l
l
m
m
l
l
m
m
Fig.5 Pendulum system Fig.6 Flexibility influence
co-efficents
I-step:
Apply 1 unit Force at point 1 as shown in Fig.6 and write the force equilibrium
equations. We get,
T sin θ  l
T cos θ  g(m  m  m)  3mg
1
tan θ 
3mg
θ is small, tan θ  sin θ
α11
sin θ 
l
α11  l sin θ
l
α11 
3mg
Similarly apply 1 unit force at point 2 and next at point 3 to obtain,
l
α 22 
5mg
the influence coefficients are:

Deptt. Mech. Engg.,
Vibrations
l
α11  α 21  α12  α 31  α13 
5mg
11l
α 22  α 32  α 23 
6mg
11l
α33 
6mg
Approximate methods
In many engineering problems it is required to quickly estimate the first
(fundamental) natural frequency. Approximate methods like Dunkerley’s method,
Rayleigh’s method are used in such cases.
(i) Dunkerley’s method

Dunkerley’s formula can be determined by frequency equation,

Deptt. Mech. Engg.,
Vibrations
 ω 2 M  K    0  (31)
  K   ω 2 M   0
1
 I  K  1M   0
ω2
1
 I   αM   0 (32)
ω2
For n DOF systems,
1 0 . 0  α11 α12 . α1n  m1 0 . 0

1 0 1 . 0 α21 α22 . α2n   0 m2 . 0 
 2    0
ω .   .  . 
    
0 0 . 1 αn1 αn2 . αnn   0 0 . mn 
 1  
  ω2  α11m1  α12m2 . α1nmn

   
  1  
  2  α22m2 
   0
0 . α2nmn
  ω 
 . . . . 
 
  1 
αn1m1 αn2m2 .   2  αnnmn 
  ω 
Solve the determinant
n n 1
 1   1 
 2    α11m1  α 22m2  ...  αnnmn   2 
ω  ω  (33)
 α11α22m1m2  α11α33m1m3  ...  αnnmn  ...   0
It is the polynomial equation of nth degree in (1/2). Let the roots of above Eqn. are:
1 1 1
2
, 2 , ...... 2
ω1 ω 2 ωn
 1 1   1 1   1 1 
  ,  , ...... 2  2 
 ω2 ω12   ω2 ω22  ω ωn 
   
n n 1 (34)
 1   1 1 1  1 
  2    2  2  ......  2  2   ...  0
ω  ωn  ω 
   ω1 ω2
Comparing Eqn.(33) and Eqn. (34), we get,
 1 1 1 
 2  2  ......  2    α11m1  α22m2  ...  αnnmn  (35)
 ω1 ω2 ωn 
In mechanical systems higher natural frequencies are much larger than the
fundamental (first) natural frequencies. Approximately, the first natural frequency is:
 1 
 2    α11m1  α22m2  ...  αnnmn  (36)
 ω1 
Deptt. Mech. Engg.,
Vibrations
The above formula is referred as Dunkerley’s formula, which can be used to estimate
first natural frequency of a system approximately.
The natural frequency of the system considering only mass m1 is:
1 K1
ω1n   (37)
α11m1 m1
The Dunkerley’s formula can be written as:
1 1 1 1
2
 2  2  ......  2 (38)
ω1 ω1n ω 2n ωnn
where, ω1n , ω2n , ..... are natural frequency of single degree of freedom system
considering each mass separately.
The above formula given by Eqn. (38) can be used for any mechanical/structural
system to obtain first natural frequency
Examples: 1
Obtain the approximate fundamental natural frequency of the system shown in Fig.7
using Dunkerley’s method.
m
x1
m
x2
m
x3
Dunkerley’s formula is:
 1 
 2    α11m1  α22m2  ...  αnnmn  OR
 ω1 
1 1 1 1
2
 2  2  ......  2
ω1 ω1n ω2n ωnn
Any one of the above formula can be used to find fundamental natural frequency
approximately.

Deptt. Mech. Engg.,
Vibrations
Find influence flexibility coefficients.

1
α11  α21  α12  α31  α13 
K
2
α22  α32  α23 
K
3
α33 
K
Substitute all influence coefficients in the Dunkerley’s formula.
 1 
 2    α11m1  α22m2  ...  αnnmn 
 ω1 
 1   m 2m 3m  6m
 2      
ω K K K  K
 1
ω1 0.40 K/m rad/s
Examples: 2
Find the lowest natural frequency of the system shown in Figure by Dunkerley’s
method. Take m1=100 kg, m2=50 kg
VTU Exam July/Aug 2006 for 20 Marks
m1 m2
1 2
180 120
Fig.8 A cantilever rotor system.
Obtain the influence co-efficents:

1.944x10 -3
α11 
EI
9x10 -3
α 22 
EI
 1 
 2    α11m1  α22m2 
 ωn 
Deptt. Mech. Engg.,
Vibrations
ωn  1.245 rad/s
(ii) Rayleigh’s method

It is an approximate method of finding fundamental natural frequency of a system
using energy principle. This principle is largely used for structural applications.
Principle of Rayleigh’s method

Consider a rotor system as shown in Fig.9. Let, m 1, m2 and m3 are masses of rotors on
shaft supported by two bearings at A and B and y 1, y2 and y3 are static deflection of
shaft at points 1, 2 and 3.
Deptt. Mech. Engg.,
Vibrations
m1 m2 m3
1 2 3
A B
y1 y3
y2
Fig.9 A rotor system.
For the given system maximum potential energy and kinetic energies are:
1 n
Vmax   migyi
2 i 1
(39)
1 n
Tmax  
2 i 1
mi y i2 (40)
where, mi- masses of the system, yi –displacements at mass points.

Considering the system vibrates with SHM,
y i  ω 2 y i (41)
substitute Eqn. (41) in (40)
ω2 n
Tmax 
2
my
i 1
i
2
i (42)
According to Rayleigh’s method,

Vmax  Tmax (43)
substitute Eqn. (39) and (42) in (43)
n
 m gy i i
ω 
2 i 1
n (44)
my
i 1
2
i i
The deflections at point 1, 2 and 3 can be found by.
y1  α11m1g  α12m2 g  α13m3 g (45)

y 2  α 21m1g  α 22m2g  α23m3 g (46)
y 3  α31m1g  α32m2g  α33m3 g (47)
Eqn.(44) is the Rayleigh’s formula, which is used to estimate frequency of transverse
vibrations of a vibratory systems.
Examples: 1

Deptt. Mech. Engg.,
Vibrations
Estimate the approximate fundamental natural frequency of the system shown in

Fig.10 using Rayleigh’s method. Take: m=1kg and K=1000 N/m.
2K
2m
x1
2m
x2
m
x3
Obtain influence coefficients,

1
α11  α21  α12  α31  α13 
2K
3
α22  α32  α23 
2K
5
α33 
2K
Deflection at point 1 is:
y1  α11m1g  α12m2 g  α13m3 g
mg
y1   2  2  1  5mg  5g
2K 2K 2000
y 2  α 21m1g  α 22m2 g  α23m3 g
mg
y2   2  6  3  11mg  11g
2K 2K 2000
y 3  α31m1g  α32m2 g  α33m3 g
mg
y3   2  6  5  13mg  13g
2K 2K 2000
Rayleigh’s formula is:

Deptt. Mech. Engg.,
Vibrations
 m gy i i
ω 
2 i 1
n
my
i 1
2
i i
 5 11 13  2
 2x  2x  2x g
 2000 2000 2000 
ω 
2
2 2 2
 5   11   13  2
2   2   2  g
 2000   2000   2000 
ω  12.41 rad/s
Examples: 2
Find the lowest natural frequency of transverse vibrations of the system shown in
Fig.11 by Rayleigh’s method.
E=196 GPa, I=10-6 m4, m1=40 kg, m2=20 kg
VTU Exam July/Aug 2005 for 20 Marks
m1 m2
1 2
A B
160 80 180
Fig.11 A rotor system.
Step-1:
Find deflections at point of loading from strength of materials principle.
x b
l
Fig.12 A simply supported beam
For a simply supported beam shown in Fig.12, the deflection of beam at distance x
from left is given by:
y
Wbx 2
6EIl
l  x 2  b2  for x  (l  b) (48)
For the given problem deflection at loads can be obtained by superposition of

deflections due to each load acting separately.

Deptt. Mech. Engg.,
Vibrations
Deflections due to 20 kg mass
y1' 
 9.81x20 x0.18x0.16 0.422  0.16 2  0.18 2   0.265
6EI0.42 EI
y '2 
 9.81x20  x0.18x0.24  0.42 2  0.24 2  0.18 2  
0.29
6EIx0.42 EI
Deflections due to 40 kg mass
y1' ' 
 9.81x40 x0.16x0.26 0.422  0.262  0.16 2   0.538
6EIx0.42 EI
y '2' 
 9.81x40  x0.16x0.18  0.42 2  0.18 2  0.16 2  
0.53
6EIx0.42 EI
The deflection at point 1 is:
0.803
y1  y1'  y1' ' 
EI
The deflection at point 2 is:
0.82
y 2  y '2  y '2' 
EI
n
 m gy i i
ω 2 i 1
n
my
i 1
2
i i
9.81 40x0.803  20x0.82 

ω2 
 40x0.803 2    20x0.822 
ωn  1541.9 rad/s
Numerical methods
(i) Matrix iteration method

Using this method one can obtain natural frequencies and modal vectors of a vibratory
system having multi-degree freedom.
It is required to have 1< 2<……….< n

Deptt. Mech. Engg.,
Vibrations
Eqns. of motion of a vibratory system (having n DOF) in matrix form can be written
as:
M x   K  x   0 (49)
where,
 x   A sin ωt  φ  (50)
substitute Eqn.(50) in (51)
 ω2 M A  K  A   0 (51)
th
For principal modes of oscillations, for r mode,
 ωr2 M A r  K  A r   0
1
K  1 M A r   A r
ωr2
1
D A r   A r (52)
ωr2
where, D is referred as Dynamic matrix.
Eqn.(52) converges to first natural frequency and first modal vector.
The Equation,
M 1 K  A r  ωr2  A r
D1  A r  ωr2  A r (53)
where, D1  is referred as inverse dynamic matrix.
Eqn.(53) converges to last natural frequency and last modal vector.
In above Eqns (52) and (53) by assuming trial modal vector and iterating till the Eqn
is satisfied, one can estimate natural frequency of a system.
Examples: 1
Find first natural frequency and modal vector of the system shown in the Fig.10 using
matrix iteration method. Use flexibility influence co-efficients.
Find influence coefficients.

1
α11  α21  α12  α31  α13 
2K
3
α22  α32  α23 
2K
5
α33 
2K
α11 α12 α13 
 α  α21 α22 α32 
α31 α32 α33 

Deptt. Mech. Engg.,
Vibrations
1 1 1
1 
 α  K  3
1
 1 3
2K 
1 3 5
First natural frequency and modal vector
K  1 M A r  12  A r
ωr
1
D A r   A r
ωr2
Obtain Dynamic matrix D  K  1 M
1 1 1 2 0 0 2 2 1
m  m 
 D  1 3 3 0 2 
0  2 6 3
2K  2K 
1 3 5 0 0 1 2 6 5
Use basic Eqn to obtain first frequency
D A 1  12  A 1
ωr
Assume trial vector and substitute in the above Eqn.
1

Assumed vector is: u 1  1
1

First Iteration
2 2 1 1  1 
m    5m  
Du 1  2 6 3 1  2.2 
2K  2K
2 6 5  
1
2.6 
 
As the new vector is not matching with the assumed one, iterate again using the new
vector as assumed vector in next iteration.
Second Iteration
2 2 1  1   1 
m     4.5m  
Du 2  2 6 3  2.2  2.55 
2K  K
2 6 5   
2.6 
3.13 
 
Third Iteration
2 2 1  1   1 
m     5.12m  
Du 3  2 6 3 2.555    2.61
2K  K
2 6 5  
3.133 
3.22 
 
Fourth Iteration

Deptt. Mech. Engg.,
Vibrations
2 2 1  1   1 
m     5.22m  
Du 4  2 6 3   2.61   2.61
2K  K
2 6 5   
3.22 
3.23 
 
As the vectors are matching stop iterating. The new vector is the modal vector.
To obtain the natural frequency,
 1   1 
  5.22m  
D  2.61   2.61
3.22  K 3.23 
   
Compare above Eqn with with basic Eqn.
D A 1  12  A 1
ω1
1 5.22m
2

ω1 K
1 K
ω12 
5.22 m
K
ω1  0.437 Rad/s
m
Modal vector is:
 1 
 
 A 1   2.61
3.23 
 
Method of obtaining natural frequencies in between first and last one

(Sweeping Technique)
For understanding it is required to to clearly understand Orthogonality principle of

modal vectors.
Orthogonality principle of modal vectors
x2
b 
b   1 
b 2 
a 
 a   1
a 2 
Deptt. Mech. Engg.,
B. V. B. College of Engineering and Technology, Hubli -x580031.
1
Fig.13 Vector representation graphically

Vibrations
Consider two vectors shown in Fig.13. Vectors  a and  b are orthogonal to each
other if and only if
 a T b 0 (54)
b 
 a1 a2   1   0
b 2 
1 0 b1 
 a1 a2      0
0 1 b 2 
 a T Ib  0 (55)
where, I is Identity matrix.
From Eqn.(55), Vectors  a and  b are orthogonal to each other with respect to
identity matrix.
Application of orthogonality principle in vibration analysis

Eqns. of motion of a vibratory system (having n DOF) in matrix form can be written
as:
M x   K  x   0
 x   A sin ωt  φ 
 ω 2 M A 1  K  A 1   0
ω 2 M A 1  K  A 1
If system has two frequencies 1 and 2
ω12 M A 1  K  A 1 (56)
ω M A 2  K  A 2
2
2 (57)
Multiply Eqn.(56) by  A 2 and Eqn.(57) by  A 1
T T
ω12  A 2 M A 1   A 2 K  A 1
T T
(58)
ω12  A 1 M A 2   A 1 K  A 2
T T
(59)
Eqn.(58)-(59)
 A 1T M A 2 0 (60)
Above equation is a condition for mass orthogonality.
 A 1T K  A 2 0 (61)

Deptt. Mech. Engg.,
Vibrations
Above equation is a condition for stiffness orthogonality.
By knowing the first modal vector one can easily obtain the second modal vector
based on either mass or stiffness orthogonality. This principle is used in the matrix
iteration method to obtain the second modal vector and second natural frequency.
This technique is referred as Sweeping technique
Sweeping technique
After obtaining  A 1 and ω1 to obtain  A 2 and ω2 choose a trial vector  V 1
orthogonal to  A 1 ,which gives constraint Eqn.:
 V 1T M A 1 0 (62)
m1 0 0   A1 
 
 V1 V2 V3   0 m2 0  A 2   0

 0 0 m3  A 3 
  V1m1A1    V2m2 A 2    V3m3 A 3   0
  m1A1  V1   m2 A 2  V2   m3 A 3  V3   0
V1  αV2  βV3 (63)
where  and b are constants
m A 
α   2 2  (64)
 m1A 1 
m A 
β   3 3  (65)
 m1A 1 
Therefore the trial vector is:
 V1   αV2  βV3  
   
V2    V2 
V   V3 
 3  
0 α β  V1 
 
 0 1 0 V2 
0 0 1  
V3 
  S V 1 (66)
where   S is referred as Sweeping matrix and  V 1 is the trial vector.
New dynamics matrix is:
Ds   D S
1
Ds  V 1   A 2 (67)
ω22
Deptt. Mech. Engg.,
Vibrations
The above Eqn. Converges to second natural frequency and second modal vector.
This method of obtaining frequency and modal vectors between first and the last one
is referred as sweeping technique.
Examples: 2
For the Example problem 1 Find second natural frequency and modal vector of the
system shown in the Fig.10 using matrix iteration method and Sweeping technique.
Use flexibility influence co-efficients.
For this example already the first frequency and modal vectors are obtained by matrix
iteration method in Example 1. In this stage only how to obtain second frequency is
demonstrated.
First Modal vector obtained in Example 1 is:
 A1   1 
 A 1  A 2    
 2.61
A  3.23 
 3  
2 0 0
M  0 2 0 is the mass matrix
0 0 1
Find sweeping matrix

0 α β
 S  0 1 0
0 0 1
m A   2(2.61) 
α   2 2      2.61
 m1A 1   2(1) 
m A   1(3.23) 
β   3 3      1.615
 m1A 1   2(1) 
Sweeping matrix is:
0 - 2.61 - 1.615 
 S  0 1 0 
0 0 1 
New Dynamics matrix is:

Ds   D S
2 2 1 0 - 2.61 - 1.615  0  1.61  1.11
m  m
Ds   2 6 3 0 1 
0   0 0.39  0.11
2K  K 
 1 3 5 0 0 1  0 0.39 1.89 
First Iteration

Deptt. Mech. Engg.,
Vibrations
1
Ds  V 1   A 2
ω22
0  1.61  1.11  1 - 2.27  - 9.71
m   m  0.28m  
0 0.39  0.11 1   0.28    1 
K  K  K
0 0.39 1.89   
1  2.28 
  8.14 
 
Second Iteration
0  1.61  1.11 - 9.71 - 10.64 - 21.28
m    m  0.5m  
0 0.39  0.11  1    - 0.50    -1 
K   K  15.77  K 
0 0.39 1.89  
 8.14   

 31.54 
Third Iteration
0  1.61  1.11 - 21.28  - 33.39  - 8.67 
m    m  3.85m  
0 0.39  0.11  - 1    - 3.85    -1 
K   K  59.52  K
0 0.39 1.89  
 31.54   
15.38 
 
Fourth Iteration
0  1.61  1.11 - 8.67 - 18.68 - 8.98
m    m  2.08m  
0 0.39  0.11  - 1    - 2.08    -1 
K   K  28.67  K
0 0.39 1.89  
15.38   
13.78 
 
Fifth Iteration
0  1.61  1.11 - 8.98  - 13.68  - 7.2
m    m  1.90m  
0 0.39  0.11  1    - 1.90    1 
K   K  25.65  K
0 0.39 1.89  
13.78   
13.5 
 
Sixth Iteration
0  1.61  1.11 - 7.2 - 13.24  - 7.08
m    m  1.87m  
0 0.39  0.11  - 1    - 1.87    -1 
K   K  25.12  K
0 0.39 1.89  
13.5   
13.43 
 
1 1087m
2

ω2 K
1 K
ω12 
1.87 m
K
ω1  0.73
m
Modal vector
 -1 
 
 A 2  - 0.14 
 1.89 
 
Similar manner the next frequency and modal vectors can be obtained.

Deptt. Mech. Engg.,
Vibrations
(ii) Stodola’s method

It is a numerical method, which is used to find the fundamental natural frequency and
modal vector of a vibratory system having multi-degree freedom. The method is
based on finding inertia forces and deflections at various points of interest using
flexibility influence coefficents.
Principle / steps
1. Assume a modal vector of system. For example for 3 dof systems:
 x1  1
  
x 2   1
x  1
 3 
2. Find out inertia forces of system at each mass point,
F1  m1ω2 x1 for Mass 1 (68)
F2  m2ω x 2 for Mass 2
2
(69)
F3  m3ω 2 x 3 for Mass 3 (70)
3. Find new deflection vector using flexibility influence coefficients, using the
formula,

Deptt. Mech. Engg.,
Vibrations
 x1  F1α11  F2α12  F3 α13 

   
x2   F1α21  F2α22  F3 α23  (71)
 x  F α  F α  F α 
 3  1 31 2 32 3 33 
4. If assumed modal vector is equal to modal vector obtained in step 3, then solution
is converged. Natural frequency can be obtained from above equation, i.e
 x1   x1 
   
If x 2   x2  Stop iterating.
 x   x 
 3  3
Find natural frequency by first equation,
x1  1  F1α11  F2 α12  F3 α13 (72)
5. If assumed modal vector is not equal to modal vector obtained in step 3, then
consider obtained deflection vector as new vector and iterate till convergence.
Example-1
Find the fundamental natural frequency and modal vector of a vibratory system shown
in Fig.10 using Stodola’s method.
First iteration
 x1  1
  
1. Assume a modal vector of system  u 1 = x 2   1
x  1
 3 
2. Find out inertia forces of system at each mass point
F1  m1ω2 x1  2mω2
F2  m2ω2 x 2  2mω2
F3  m3ω 2 x 3  mω2
3. Find new deflection vector using flexibility influence coefficients
Obtain flexibility influence coefficients of the system:
1
α11  α21  α12  α31  α13 
2K
3
α22  α32  α23 
2K
5
α33 
2K

Deptt. Mech. Engg.,
Vibrations
x1  F1α11  F2α12  F3 α13

Substitute for F’s and ,s
mω2 mω2 mω2 5mω2
x1    
K K 2K 2K
x2  F1α21  F2α22  F3 α23
mω2 6mω2 3mω2 11m ω 2
x2    
K 2K 2K 2K
x3  F1α31  F2α32  F3 α33
mω2 6mω2 5mω 2 13mω 2
x3    
K 2K 2K 2K
4. New deflection vector is:
 x1  5
  mω2  
x2   11
 x  2K 13
 3  
 x1  1
  5mω2  
x2   2.2 = u 2
x  2K 2.6
 3  
The new deflection vector u 2  u 1 . Iterate again using new deflection vector  u 2
Second iteration
 x1   1 
   
1. Initial vector of system  u 2 = x2   2.2
x  2.6
 3  
F1  m1ω2 x1  2mω2
F2  m 2 ω 2 x 2  4.4mω 2
F3  m3ω2 x3  2.6mω 2
3. New deflection vector,
x1  F1α11  F2α12  F3α13
mω 2 4.4mω 2 2.6mω 2 9mω 2
x1    
K 2K 2K 2K

Deptt. Mech. Engg.,
Vibrations
x2  F1α21  F2α22  F3α23

mω2 13.2mω 2 7.8mω 2 23mω 2
x2    
K 2K 2K 2K
x3  F1α31  F2α32  F3α33
mω 2 13.2mω 2 13mω 2 28.2mω 2
x3    
K 2K 2K 2K
 x1   9 
  mω2  
x2    23 
x  2K 28.2
 3  
 x1   1 
  9mω2  
x2   2.55  =  u 3
 x  2K  
 3 3.13 
The new deflection vector u 3  u 2 . Iterate again using new deflection vector u 3
Third iteration
 x1   1 
   
1. Initial vector of system  u 3 = x2   2.55 
x  3.13 
 3  
F1  m1ω 2 x1  2mω 2
F2  m2ω2 x2  5.1mω2
F3  m3ω 2 x3  3.13mω 2
3. new deflection vector,
x1  F1α11  F2α12  F3α13
mω 2 5.1mω2 3.13mω 2 10.23mω2
x1    
K 2K 2K 2K
x2  F1α21  F2α22  F3α23
Deptt. Mech. Engg.,
Vibrations
mω 2 15.3mω 2 9.39mω 2 26.69mω 2

x2    
K 2K 2K 2K
x3  F1α31  F2α32  F3α33
mω2 15.3mω2 16.5mω2 28.2mω2
x3    
K 2K 2K 2K
 x1 2
10.23 
  mω  
x2  26.69 
x 2K  33.8 
 3  
 x1  1 
  10.23mω2  
x2  2.60 =  u 4
x 2K 3.30 
 3  
The new deflection vector  u 4   u 3 stop Iterating
Fundamental natural frequency can be obtained by.
10.23mω2
1
2K
K
ω  0.44 rad/s
m
Modal vector is:

 1 
 
 A 1  2.60 
3.30 
 
Example-2
For the system shown in Fig.14 find the lowest natural frequency by Stodola’s method
(carryout two iterations)
July/Aug 2005 VTU for 10 marks
3K
4m
x1
2m
x2
K
Deptt. Mech. Engg., m
B. V. B. College of Engineering and Technology, xHubli - 580031.
3

Vibrations
Obtain flexibility influence coefficients,

1
α11  α21  α12  α31  α13 
3K
4
α22  α32  α23 
3K
7
α33 
3K
First iteration
 x1  1
  
1. Assume a modal vector of system  u 1 = x 2   1
x  1
 3 

F1  m1ω 2 x1  4mω 2
F2  m 2 ω 2 x 2  2mω 2
F3  m3ω 2 x 3  mω2
3. New deflection vector using flexibility influence coefficients,
x1  F1α11  F2α12  F3 α13
4mω 2 2mω 2 mω 2 7mω2
x1    
3K 3K 3K 3K
x2  F1α21  F2α22  F3 α23
4mω 2 8mω2 4mω2 16mω 2
x2    
3K 3K 3K 3K
x3  F1α31  F2α32  F3 α33
4mω 2 8mω 2 7mω 2 19mω2
x3    
3K 3K 3K 3K

Deptt. Mech. Engg.,
Vibrations
 x1  2
7
  mω  
x2   16
 x  3K 19
 3  
 x1  2
 1 
  7mω  
x2   2.28  = u 2
 x  3K  
 3  2.71
The new deflection vector u 2  u 1 . Iterate again using new deflection vector  u 2
Second iteration
 x1   1 
   
1. Initial vector of system  u 2 = x2   2.28 
x   2.71
 3  
F1  m1ω 2 x1  4mω 2
F2  m2ω 2 x2  4.56mω2
F3  m3ω2 x3  2.71mω2
3. New deflection vector

x1  F1α11  F2α12  F3α13
4mω2 4.56mω 2 2.71mω2 11.27m ω 2
x1    
3K 3K 3K 3K
x2  F1α 21  F2α 22  F3α 23
4mω 2 18.24m ω 2 10.84m ω 2 33.08m ω 2
x2    
3K 3K 3K 3K
x3  F1α31  F2α32  F3α33
4mω 2 18.24m ω 2 18.97m ω 2 41.21m ω 2
x3    
3K 3K 3K 3K
 x1  11.27 
  mω2  
x2   33.08 
x  3K  41.21
 3  

Deptt. Mech. Engg.,
Vibrations
 x1  2
 1 
  3.75mω  
x2   2.93  =  u 3
x  K 3.65 
 3  
Stop Iterating as it is asked to carry only two iterations. The Fundamental natural
frequency can be calculated by,
3.75mω 2
1
2K
K
ω  0.52
m
Modal vector,
 1 
 
 A 1  2.93 
3.65 
 
Disadvantage of Stodola’s method
Main drawback of Stodola’s method is that the method can be used to find only
fundamental natural frequency and modal vector of vibratory systems. This method is
not popular because of this reason.
(iii) Holzar’s method

It is an iterative method, used to find the natural frequencies and modal vector of a
vibratory system having multi-degree freedom.
Principle
Consider a multi dof semi-definite torsional semi-definite system as shown in Fig.15.
J1 J2 J4
J3
 1 K1  2 K2  3 K3 4
Fig.15 A torsional semi-definite system
The Eqns. of motions of the system are:

Deptt. Mech. Engg.,
Vibrations
  K (θ  θ )  0
J1θ (73)
1 1 1 2
  K (θ  θ )  K (θ  θ )  0
J2θ (74)
2 1 2 1 2 2 3
  K (θ  θ )  K (θ  θ )  0
J3θ (75)
3 2 3 2 3 3 4
J4 θ 4  K 3 (θ 4  θ 3 )  0 (76)
The Motion is harmonic,
θi  φisin ωt  (77)
where i=1,2,3,4
Substitute above Eqn.(77) in Eqns. of motion, we get,
ω 2J1φ1  K 1(φ1  φ 2 ) (78)
ω J2φ 2  K 1(φ 2  φ1 )  K 2 (φ 2  φ3 )
2
(79)
ω 2J3φ3  K 2 (φ 3  φ 2 )  K 3 (φ 3  φ 4 ) (80)
ω2 J4φ 4  K 3 (φ 4  φ3 ) (81)
Add above Eqns. (78) to (81), we get
4
 ω Jφ
i 1
2
i i 0 (82)
For n dof system the above Eqn changes to,

n
 ω Jφ
i 1
2
i i 0 (83)
The above equation indicates that sum of inertia torques (torsional systems) or inertia
forces (linear systems) is equal to zero for semi-definite systems.
In Eqn. (83)  and i both are unknowns. Using this Eqn. one can obtain natural
frequencies and modal vectors by assuming a trial frequency  and amplitude 1 so
that the above Eqn is satisfied.
Steps involved
1. Assume magnitude of a trial frequency 
2. Assume amplitude of first disc/mass (for simplicity assume 1=1
3. Calculate the amplitude of second disc/mass 2 from first Eqn. of motion
ω2J1φ1  K 1(φ1  φ 2 )  0
ω2 J1φ1
φ 2  φ1  (84)
K1
4. Similarly calculate the amplitude of third disc/mass 3 from second Eqn. of motion.
ω 2J2φ 2  K 1(φ 2  φ1 )  K 2 (φ 2  φ3 )  0
ω2J1 φ1
ω2J2φ 2  K 1(φ1   φ1 )  K 2 (φ 2  φ3 )  0
K1

Deptt. Mech. Engg.,
Vibrations
ω2J2φ 2  ω2J1 φ1  K 2 (φ 2  φ3 )  0
K 2 (φ 2  φ 3 )  ω 2J1 φ1  ω 2J2φ 2
ω 2 J1 φ1  ω 2 J2φ 2
φ3  φ2 - (85)
K2
The Eqn (85) can be written as:
2
J φω i i
2
(86)
φ3  φ 2 - i 1
K2
5. Similarly calculate the amplitude of nth disc/mass n from (n-1)th Eqn. of motion
is:
n
J φω i i
2
(87)
φ n  φn - 1 - i 1
Kn
6. Substitute all computed i values in basic constraint Eqn.
n
 ω Jφ
i 1
2
i i 0 (88)
7. If the above Eqn. is satisfied, then assumed  is the natural frequency, if the Eqn is
not satisfied, then assume another magnitude of  and follow the same steps.
For ease of computations, Prepare the following table, this facilitates the calculations.
Table-1. Holzar’s Table

1 2 3 4 5 6 7 8

S No J  J2 K 1
 Jω 
2
 Jω  2
Example-1
For the system shown in the Fig.16, obtain natural frequencies using Holzar’s method.
J1 J2 J3
 1 K1 2 K2 3
Fig.16 A torsional semi-definite system

Deptt. Mech. Engg.,
Vibrations
Make a table as given by Table-1, for iterations, follow the steps discussed earlier.
Assume  from lower value to a higher value in proper steps.
Table-2. Holzar’s Table for Example-1

1 2 3 4 5 6 7 8

S No J  J2 K 1
 Jω  2
 Jω  2
K
I-iteration
1 1 1 0.0625 0.0625 1 0.0625
0.25 2 1 0.9375 0.0585 0.121 1 0.121
3 1 0.816 0.051 0.172 ¾ ¾
II-iteration
1 1 1 0.25 0.25 1 0.25
0.50 2 1 0.75 0.19 0.44 1 0.44
3 1 0.31 0.07 0.51 ¾ ¾
III-iteration
1 1 1 0.56 0.56 1 0.56
0.75 2 1 0.44 0.24 0.80 1 0.80
3 1 -0.36 -0.20 0.60 ¾ ¾

Deptt. Mech. Engg.,
Vibrations
IV-iteration
1 1 1 1 1 1 1
1.00 2 1 0 0 1 1 1
3 1 -1 -1 0 ¾ ¾
V-iteration
1 1 1 1.56 1.56 1 1.56
1.25 2 1 -0.56 -0.87 0.69 1 0.69
3 1 -1.25 -1.95 -1.26 ¾ ¾
VI-iteration
1 1 1 2.25 2.25 1 2.25
1.50 2 1 -1.25 -2.82 -0.57 1 -0.57
3 1 -0.68 -1.53 -2.10 ¾ ¾
VII-iteration
1 1 1 3.06 3.06 1 3.06
1.75 2 1 -2.06 -6.30 -3.24 1 -3.24
3 1 1.18 3.60 0.36 ¾ ¾
Table.3 Iteration summary table

  Jω  2
0 0
0.25 0.17
0.5 0.51
0.75 0.6
1 0
1.25 -1.26
1.5 -2.1
1.75 0.36
The values in above table are plotted in Fig.17.

Deptt. Mech. Engg.,
Fig.17. Holzar’s plot of Table-3

Vibrations
From the above Graph, the values of natural frequencies are:

ω1  0 rad/s
ω 2  1 rad/s
ω3  1.71 rad/s
Definite systems
The procedure discussed earlier is valid for semi-definite systems. If a system is
definite the basic equation Eqn. (83) is not valid. It is well-known that for definite
systems, deflection at fixed point is always ZERO. This principle is used to obtain the
natural frequencies of the system by iterative process. The Example-2 demonstrates
the method.
Example-2
For the system shown in the figure estimate natural frequencies using Holzar’s
method.
July/Aug 2005 VTU for 20 marks
3K
2K K
J 2J
3J
Fig.18 A torsional system
Make a table as given by Table-1, for iterations, follow the steps discussed earlier.
Assume  from lower value to a higher value in proper steps.

Deptt. Mech. Engg.,
Vibrations
Table-4. Holzar’s Table for Example-2

1 2 3 4 5 6 7 8

S No J  J2 K 1
 Jω  2
 Jω  2
K
I-iteration
1 3 1 0.1875 0.1875 1 0.1875
2 2 0.8125 0.1015 0.289 2 0.1445
0.25
3 1 0.6679 0.0417 0.330 3 0.110
4 ¾ 0. 557 ¾ ¾ ¾ ¾
II-iteration
1 3 1 0.75 0.75 1 0.75
2 2 0.25 0.125 0.875 2 0.437
0.50
3 1 -0.187 -0.046 0.828 3 0.27
4 ¾ -0.463 ¾ ¾ ¾ ¾
III-iteration
1 3 1 1.687 1.687 1 1.687
2 2 -0.687 -0.772 0.914 2 0.457
0.75
3 1 -1.144 -0.643 0.270 3 0.090
4 ¾ -1.234 ¾ ¾ ¾ ¾
IV-iteration
1 3 1 3 3 1 3
2 2 -2 -4 -1 2 -0.5
1.00
3 1 -1.5 -1.5 -2.5 3 -0.833
4 ¾ -0.667 ¾ ¾ ¾ ¾

Deptt. Mech. Engg.,
Vibrations
V-iteration
1 3 1 4.687 4.687 1 4.687
2 2 -3.687 -11.521 -6.825 2 -3.412
1.25
3 1 -0.274 -0.154 -6.979 3 -2.326
4 ¾ 2.172 ¾ ¾ ¾ ¾
VI-iteration
1 3 1 6.75 6.75 1 6.75
2 2 -5.75 -25.875 -19.125 2 -9.562
1.50
3 1 3.31 8.572 -10.552 3 -3.517
4 ¾ 7.327 ¾ ¾ ¾ ¾
1 2 3 4 5 6 7 8

S No J  J2 K 1
 Jω  2
 Jω  2
K
VII-iteration
1 3 1 9.18 9.18 1 9.18
2 2 -8.18 -50.06 -40.88 2 -20.44
1.75
3 1 12.260 37.515 -3.364 3 -1.121
4 ¾ 13.38 ¾ ¾ ¾ ¾
VIII-iteration
1 3 1 12 12 1 12
2 2 -11 -88 -76 2 -38
2.0
3 1 -27 108 32 3 10.66
4 ¾ 16.33 ¾ ¾ ¾ ¾
IX-iteration
1 3 1 18.75 18.75 1 18.75
2 2 -17.75 -221.87 -203.12 2 -101.56
2.5
3 1 83.81 523.82 320.70 3 106.90
4 ¾ -23.09 ¾ ¾ ¾ ¾
Table.5 Iteration summary table

 4
0 0
0.25 0.557
0.5 -0.463
0.75 -1.234
1 -0.667
1.25 2.172
1.5 7.372
1.75 13.38
2 16.33

Deptt. Mech. Engg.,
Vibrations
2.5 -23.09
The values in above table are plotted in Fig.19.
20
10
Displacement, 4
-10
ω2 ω3
ω1
-20
0.0 0.5 1.0 1.5 2.0 2.5

Frequency,
Fig.17. Holzar’s plot of Table-5
From the above Graph, the values of natural frequencies are:

ω1  0.35 rad/s
ω 2  1.15 rad/s
ω3  2.30 rad/s

Deptt. Mech. Engg.,
Vibrations

Deptt. Mech. Engg.,

Vibrating Measuring Instrument

Загружено:

Сведения о документе

Авторское право

Доступные форматы

Поделиться этим документом

Поделиться или встроить документ

Параметры публикации

Этот документ был вам полезен?

Это неприемлемый материал?

Авторское право:

Доступные форматы

Vibrating Measuring Instrument

Загружено:

Авторское право:

Доступные форматы

e-Notes by S.K.

Kudri, BVB, Hubli

VIBRATION MEASURING INSTRUMENTS

Theory of Vibration measuring instruments

Spring force µ displacement

Therefore, in vibration analysis of a mechanical system, it is required to measure the

Fig.5.1 Seismic instrument

x-absolute displacement of seismic mass

Dr. S. K. Kudari, Professor Session: I&II 03-04/04/07

Fig.5.2 Plot of equation 7

Displacement measuring instrument (Vibrometer)

Acceleration measuring instrument (Accelerometer)

Dr. S. K. Kudari, Professor Session: I&II 03-04/04/07

Damping is neglected for given system

Dr. S. K. Kudari, Professor Session: I&II 03-04/04/07

Fig.1 Shaft rotor system

Problems in shaft and rotor systems:

Fig.2 Top view of disc

Dr. S. K. Kudari, Professor Session: I&II 03-04/04/07

Fig.3 Bent of shaft due to whirling

Whirling of shafts neglecting damping

Fig.4 Forces acting on the disc

Dr. S. K. Kudari, Professor Session: I&II 03-04/04/07

Whirling of shafts with damping

Fig.5 Force diagram under damping

Fig.6 Top view of the disc at time t

Dr. S. K. Kudari, Professor Session: I&II 03-04/04/07

The equation of motion for the system in x - direction is:

m(x  ω 2e.cosωt )  cx  Kx  0 (6)

Dr. S. K. Kudari, Professor Session: I&II 03-04/04/07

Similarly, the steady state response of the system in y, vertical direction is :

The deflection of shaft is :

Fig.9 Plot Eqn. (20)

Dr. S. K. Kudari, Professor Session: I&II 03-04/04/07

SYSTEMS WITH TWO DEGREE OF FREEDOM

Fig.2 Force equilibrium diagram of 2DOF linear system

From Force equilibrium diagram of mass m1:

Lagrange’s method (Generalized energy method).

Solution of governing equations

Dr. S. K. Kudari, Professor Session: I&II 03-04/04/07

The solution of equations is:

Dr. S. K. Kudari, Professor Session: I&II 03-04/04/07

First principal mode of vibration

A21 μ1A11  1.63

Dr. S. K. Kudari, Professor Session: I&II 03-04/04/07

A22  μ2A12   0.59

μ1A11 μ2A12  1.63  0.59

Torsional Vibratory systems

Fig.4 Examples of 2DOF torsional system

Obtain the equations of motion of the system shown in Fig.4.

Dr. S. K. Kudari, Professor 2 Session: I&II 03-04/04/07

Fig.5 Force equilibrium diagram of 2DOF torsional system

From Force equilibrium diagram of disc 1

From Force equilibrium diagram of disc 2

Eqns.(31) and (32) are the governing Eqns. of the system.

Equivalent shaft for a torsional system

Fig.7. Equivalent shaft of the system shown in Fig.6

Definite and semi-definite systems

Dr. S. K. Kudari, Professor J1 J2 Session: I&II 03-04/04/07

Fig.9. Various definite systems

(i) derive the equations of motion,

J2θ 2  Kθ1  Kθ 2  0 (44)

Dr. S. K. Kudari, Professor Session: I&II 03-04/04/07

First principal mode of vibration