School of Mechanical and Manufacturing Engineering (SMME)

Mechanical Vibrations ME-421

Dr. Mian Ashfaq Ali

Damping Elements: Example Problems
Damping Elements: Example Problems (cont’d.)

The force (F) – velocity (x’) relationship of a nonlinear

damper is given by:
where a and b are constant. Find the equivalent linear
damping constant when the relative velocity is 5 m/s
with a=5 N s/m and b=0.2 N s2/m2

dF dF
 a  2bx  5  2(0.2)(5)  7  c7
d ( x) dv

y  mx  I Straight Line ' s Equation

F  cv  I
30  7 v  I  I  30 - 7(5)  -5
F  7*v -5
Harmonic Motion

Periodic motion:
It is the motion repeats itself
after equal intervals of time
Simplest type of periodic motion
is harmonic motion
Harmonic Motion (cont’d)
Now, velocity and acceleration of
mass m is

d 2x
2
  2
A sin  t   2
x
dt

From above equation simple

harmonic motion can be defined as
a vibration with acceleration
proportional to the displacement
and directed towards the mean
position
Vectorial Representation of Harmonic Motion

Considering , vector OP
with magnitude A;
projection of tip of the
vector OP along vertical
and horizontal axis is
given by
Complex Number Representation of Harmonic Motion
It is more convenient to represent harmonic motion using complex
number representation

X  Vector in xy plane
X  a  ib
X  A cos   iA sin 
A  ( a 2  b 2 )1/ 2
b
  tan 1
a
X  A(cos   i sin  )  Ae i
Harmonic Motion

Operations on Harmonic
functions

X  Ae i

X  Ae it

dX d i t i t

 ( Ae )  iAe  i X
dt dt

d2X d i t i t

2
 (iAe )   Ae   X
2 2

dt dt
Harmonic Motion (cont’d.)

The displacement, velocity, and acceleration;

 
displaceme nt  Re Ae it  A cos t
  
Velocity  Re iAe it  A sin t  A cos t  90 o 
  
accelerati on  Re   2 Ae it   2 A cos t   2 A cos t  180 o 
Harmonic Motion (cont’d.)

Magnitude:
A  A1  A2 cos     A2 sin  
2 2

Angle:  A2 sin  
  tan 
1

 A1  A2 cos  
Harmonic Motion: Example Problem

Find the sum of two harmonic motions

x1(t) = 10 cos ωt
and, x2(t) = 15 cos (ωt+2)
x(t) = x1 + x2
x(t) = 10Cos(wt) + 15[cos(wt)cos(2) - sin(wt)sin(2)]
x(t) = Cos(wt) [ 10 + 15cos(2)] - Sin(wt) [ 15*sin(2)]

Now,

Cos(A+B) = Cos A*Cos B - Sin A*Sin B

Hence,

R*Cos(wt + B) = x(t)

R = sqrt[(10+15cos(2))^2+(15*sin(2))^2]

B = tan-1 (15sin(2)/(10+15Cos(2)))
Harmonic Motion (cont’d.)

Definition and terminology

Cycle
Amplitude
Period of oscillation (time period)
Frequency of oscillation   2 / 
f  1 /    / 2
Harmonic Motion (cont’d.)

Definition and terminology

Phase angle
x1  A1 sin t
x2  A2 sin t   
Harmonic Motion (cont’d.)

Definition and terminology

Natural frequency
Beats
Octave t  
x t   2 X cos cos    t
Decibel 2  2
2
 X   X 

dB  10 log  
  20 log  
 Xo   Xo 
Harmonic Analysis

In many cases the vibrations of a system are

periodic. Any periodic function of time can be
represented by Fourier series as an infinite sum of
sine and cosine terms
Harmonic Analysis: Fourier Series Expansion

We can write periodic function in previous slide, as:

a0
x t    a1 cos  t  a 2 cos 2 t    b1 sin  t  b2 sin 2 t  
2
a0 
x t     a n cos n t  bn sin n t 
2 n 1
where, fundamenta l frequency   2 / 
constants in above equation can be found by
2π /  
ω 2
a0 
π  xt dt    x t dt
0 0
2π /  
ω 2
an 
π  xt  cos ntdt    xt  cos ntdt
0 0
2π /  
ω 2
bn 
π  xt sin ntdt    xt sin ntdt
0 0
Harmonic Analysis: Complex Fourier Series

cos  t and sin  t can be writen as

e i t  e  i t
cos  t 
2
e i t  e  i t
sin  t 
2i
a0    e int  e  int   e int  e  int 
 x (t )    a n    bn   
2 n 1   2   2i 
 a0 ib0    int  a n ibn   int  a n ibn  
   e  
i ( 0 )t
x (t )  e   e   
 2 2  n 1   2 2   2 2 
where (b 0  0)
Frequency Spectrum

Harmonics of order n :

18
Time and Frequency Domain Representations

19
Example: Fourier series expansion of cam-follower system

20
Example: Fourier series expansion of cam-follower system

21
Numerical Fourier Analysis

22
Harmonic Analysis (cont’d.)

Read topic 1.11.3 through 1.11.7

Study All Examples and Practice Exercises