Ninth

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CHAPTER

19

VECTOR MECHANICS FOR ENGINEERS:

DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.

Mechanical Vibrations

Lecture Notes:
J. Walt Oler
Texas Tech University

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Vector Mechanics for Engineers: Dynamics

Contents
Introduction

Sample Problem 19.4

Free Vibrations of Particles. Simple

Harmonic Motion

Forced Vibrations

Simple Pendulum (Approximate

Solution)
Simple Pendulum (Exact Solution)
Sample Problem 19.1

Sample Problem 19.5

Damped Free Vibrations
Damped Forced Vibrations
Electrical Analogues

Free Vibrations of Rigid Bodies

Sample Problem 19.2
Sample Problem 19.3
Principle of Conservation of Energy

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Introduction
Mechanical vibration is the motion of a particle or body which
oscillates about a position of equilibrium. Most vibrations in
machines and structures are undesirable due to increased stresses
and energy losses.
Time interval required for a system to complete a full cycle of the
motion is the period of the vibration.
Number of cycles per unit time defines the frequency of the vibrations.
Maximum displacement of the system from the equilibrium position is
the amplitude of the vibration.
When the motion is maintained by the restoring forces only, the
vibration is described as free vibration. When a periodic force is applied
to the system, the motion is described as forced vibration.
When the frictional dissipation of energy is neglected, the motion
is said to be undamped. Actually, all vibrations are damped to
some degree.
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Free Vibrations of Particles. Simple Harmonic Motion
If a particle is displaced through a distance xm from its
equilibrium position and released with no velocity, the
particle will undergo simple harmonic motion,
ma F W k st x kx

mx kx 0
General solution is the sum of two particular solutions,
k
k
x C1 sin
t C 2 cos
t
m
m
C1 sin n t C 2 cos n t

x is a periodic function and n is the natural circular

frequency of the motion.
C1 and C2 are determined by the initial conditions:
x C1 sin n t C2 cos n t

C 2 x0

v x C1 n cos n t C2 n sin n t

C1 v0 n

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Free Vibrations of Particles. Simple Harmonic Motion
v
C1 0

C 2 x0

Displacement is equivalent to the x component of the sum of two vectors C1 C2
which rotate with constant angular velocity n .
x xm sin n t

xm

v0 n 2 x02

amplitude

tan 1 v0 x0 n phase angle

n
fn

period

n natural frequency
n 2
1

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Vector Mechanics for Engineers: Dynamics

Free Vibrations of Particles. Simple Harmonic Motion
Velocity-time and acceleration-time curves can be
represented by sine curves of the same period as the
displacement-time curve but different phase angles.
x xm sin n t

v x
xm n cos n t

xm n sin n t 2

a x
xm n2 sin n t
xm n2 sin n t

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Vector Mechanics for Engineers: Dynamics

Simple Pendulum (Approximate Solution)
Results obtained for the spring-mass system can be
applied whenever the resultant force on a particle is
proportional to the displacement and directed towards
the equilibrium position.
Consider tangential components of acceleration and
force for a simple pendulum,
Ft mat : W sin ml
g
sin 0
l

for small angles,

g
l

0
m sin n t
n
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l
g
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Simple Pendulum (Exact Solution)
g
l

An exact solution for

sin 0

leads to

l 2
d
n 4

g 0 1 sin 2 2 sin 2
m

which requires numerical solution.

2K
l
2

n

g

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Sample Problem 19.1
SOLUTION:
For each spring arrangement, determine
the spring constant for a single
equivalent spring.
Apply the approximate relations for the
harmonic motion of a spring-mass
system.
A 50-kg block moves between vertical
guides as shown. The block is pulled
40mm down from its equilibrium
position and released.
For each spring arrangement, determine
a) the period of the vibration, b) the
maximum velocity of the block, and c)
the maximum acceleration of the block.
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Sample Problem 19.1
k1 4 kN m k2 6 kN m

SOLUTION:
Springs in parallel:
- determine the spring constant for equivalent spring

- apply the approximate relations for the harmonic motion

of a spring-mass system
k
104 N/m
n

14.14 rad s
m
20 kg

n
P k1 k2
k

k1 k2

10 kN m 10 4 N m

n 0.444 s

vm x m n

0.040 m 14.14 rad s

vm 0.566 m s

am x m an2
0.040 m 14.14 rad s 2

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am 8.00 m s2

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Sample Problem 19.1
k1 4 kN m k2 6 kN m

Springs in series:
- determine the spring constant for equivalent spring
- apply the approximate relations for the harmonic motion
of a spring-mass system

n
n

k
2400N/m

6.93 rad s
m
20 kg
2

n 0.907 s

vm x m n
P k1 k2
k

k1 k2

10 kN m 10 4 N m

0.040 m 6.93 rad s

vm 0.277 m s

am x m an2
0.040 m 6.93 rad s 2

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am 1.920m s2

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Vector Mechanics for Engineers: Dynamics

Free Vibrations of Rigid Bodies
If an equation of motion takes the form
x n2 x 0 or n2 0
the corresponding motion may be considered
as simple harmonic motion.
Analysis objective is to determine n.
Consider the oscillations of a square plate
W b sin mb I

1 m 2b 2 2b 2 2 mb2 , W mg
but I 12
3
3g
3g

sin
0
5b
5b
3g
2
5b
then n
, n
2
5b
n
3g

For an equivalent simple pendulum,

l 5b 3
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Vector Mechanics for Engineers: Dynamics

Sample Problem 19.2
SOLUTION:
k

From the kinematics of the system, relate

the linear displacement and acceleration
to the rotation of the cylinder.
Based on a free-body-diagram equation
for the equivalence of the external and
effective forces, write the equation of
motion.

A cylinder of weight W is suspended

as shown.
Determine the period and natural
frequency of vibrations of the cylinder.

Substitute the kinematic relations to arrive

at an equation involving only the angular
displacement and acceleration.

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Vector Mechanics for Engineers: Dynamics

Sample Problem 19.2
SOLUTION:
From the kinematics of the system, relate the linear
displacement and acceleration to the rotation of the cylinder.
x r
2 x 2 r

a r r
a r
Based on a free-body-diagram equation for the equivalence of
the external and effective forces, write the equation of motion.
M A M A eff :
Wr T2 2r ma r I

but T2 T0 k 12 W k 2r
Substitute the kinematic relations to arrive at an equation
involving only the angular displacement and acceleration.
Wr 1 W 2kr 2r mrr 1 mr 2

8k
0
3m

8k
n
3m
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3m
8k

fn

n 1 8k

2 2 3m
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Sample Problem 19.3
SOLUTION:
Using the free-body-diagram equation for
the equivalence of the external and
effective moments, write the equation of
motion for the disk/gear and wire.
W 20 lb
n 1.13 s

n 1.93 s

With the natural frequency and moment

of inertia for the disk known, calculate
the torsional spring constant.

The disk and gear undergo torsional

vibration with the periods shown.
With natural frequency and spring
Assume that the moment exerted by the constant known, calculate the moment of
wire is proportional to the twist angle.
inertia for the gear.
Determine a) the wire torsional spring Apply the relations for simple harmonic
constant, b) the centroidal moment of
motion to calculate the maximum gear
inertia of the gear, and c) the maximum velocity.
angular velocity of the gear if rotated
through 90o and released.
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Vector Mechanics for Engineers: Dynamics

Sample Problem 19.3

W 20 lb
n 1.13 s

n 1.93 s

SOLUTION:
Using the free-body-diagram equation for the equivalence
of the external and effective moments, write the equation of
motion for the disk/gear and wire.
K I
M O M O eff :
K
0
I

K
I

I
K

With the natural frequency and moment of inertia for the

disk known, calculate the torsional spring constant.
2

1 20 8
2
I 12 mr 2
0.138 lb ft s
2 32.2 12
1.13 2
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0.138
K

K 4.27 lb ft rad
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Sample Problem 19.3
With natural frequency and spring constant known,
calculate the moment of inertia for the gear.
1.93 2

W 20 lb
n 1.13 s

I
4.27

I 0.403 lb ft s 2

Apply the relations for simple harmonic motion to

calculate the maximum gear velocity.

n 1.93 s

m sin nt

mn sin nt

m mn

m 90 1.571 rad

K
I

I
K

2
2
1.571 rad

1
.
93
s

m m

K 4.27 lb ft rad

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m 5.11rad s

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Principle of Conservation of Energy
Resultant force on a mass in simple harmonic motion
is conservative - total energy is conserved.
1 mx 2 1 kx 2 constant
T V constant
2
2
x 2 n2 x 2
Consider simple harmonic motion of the square plate,
T1 0
V1 Wb1 cos Wb 2 sin 2 m 2

12 Wb m2
2
T2 12 mvm2 12 I m
2
2
12 mbm 12 23 mb 2 m

V2 0

12 53 mb 2 m2
T1 V1 T2 V2
0 12 Wb m2 12
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53 mb 2 m2 n2 0

n 3g 5b
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Sample Problem 19.4
SOLUTION:
Apply the principle of conservation of
energy between the positions of maximum
and minimum potential energy.
Solve the energy equation for the natural
frequency of the oscillations.

Determine the period of small

oscillations of a cylinder which rolls
without slipping inside a curved
surface.

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Sample Problem 19.4
SOLUTION:
Apply the principle of conservation of energy between the
positions of maximum and minimum potential energy.

T1 V1 T2 V2

V1 Wh W R r 1 cos

T1 0

W R r m2 2

V2 0

2
T2 12 mvm2 12 I m

1 m R r 2
m
2

12

1 mr R r 2

m
2
r
2

34 m R r 2m2

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Vector Mechanics for Engineers: Dynamics

Sample Problem 19.4
Solve the energy equation for the natural frequency of the
oscillations.

T1 0

V1 W R r m2 2

T2 34 mR r 2m2

V2 0

T1 V1 T2 V2

0 W R r

mg R r

n2
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m2
2

m2
2

2 g
3 Rr

34 mR r 2m2 0
34 m R r 2 m n 2m

3 Rr
2 g
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Forced Vibrations
Forced vibrations - Occur
when a system is subjected to
a periodic force or a periodic
displacement of a support.
f forced frequency

F ma :

Pm sin f t W k st x mx

W k st x m sin f t mx

mx kx Pm sin f t

mx kx k m sin f t

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Vector Mechanics for Engineers: Dynamics

Forced Vibrations

x xcomplementary x particular

C1 sin n t C2 cos n t xm sin f t

Substituting particular solution into governing equation,

m 2f xm sin f t kxm sin f t Pm sin f t

xm

Pm k
m

k m 2f 1 f n 2 1 f n 2
Pm

mx kx Pm sin f t
mx kx k m sin f t
At f = n, forcing input is in
resonance with the system.
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Vector Mechanics for Engineers: Dynamics

Sample Problem 19.5
SOLUTION:
The resonant frequency is equal to the
natural frequency of the system.
Evaluate the magnitude of the periodic
force due to the motor unbalance.
Determine the vibration amplitude
from the frequency ratio at 1200 rpm.
A motor weighing 350 lb is supported
by four springs, each having a constant
750 lb/in. The unbalance of the motor is
equivalent to a weight of 1 oz located 6
in. from the axis of rotation.
Determine a) speed in rpm at which
resonance will occur, and b) amplitude
of the vibration at 1200 rpm.
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Vector Mechanics for Engineers: Dynamics

Sample Problem 19.5
SOLUTION:
The resonant frequency is equal to the natural frequency of
the system.

W = 350 lb
k = 4(350 lb/in)

350
10.87 lb s 2 ft
32.2

k 4750 3000 lb in
36,000 lb ft

k
36,000

m
10.87
57.5 rad/s 549 rpm

Resonance speed = 549 rpm

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Vector Mechanics for Engineers: Dynamics

Sample Problem 19.5
Evaluate the magnitude of the periodic force due to the
motor unbalance. Determine the vibration amplitude from
the frequency ratio at 1200 rpm.

f 1200 rpm 125.7 rad/s

1
1 lb
0.001941 lb s 2 ft
m 1 oz

16 oz 32.2 ft s 2

W = 350 lb
k = 4(350 lb/in)

n 57.5 rad/s

Pm ma n mr 2

6 125.7 2 15.33 lb
0.001941 12

xm

Pm k

1 f n

15.33 3000
1 125.7 57.52

0.001352 in
xm = 0.001352 in. (out of phase)

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Vector Mechanics for Engineers: Dynamics

Damped Free Vibrations
All vibrations are damped to some degree by
forces due to dry friction, fluid friction, or
internal friction.
With viscous damping due to fluid friction,

F ma :

W k st x cx mx
mx cx kx 0

Substituting x = elt and dividing through by elt

yields the characteristic equation,
ml2 cl k 0

c
k
c
l

2m
m
2m

Define the critical damping coefficient such that

2

k
cc

0
m
2m
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cc 2m

k
2m n
m
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Damped Free Vibrations
Characteristic equation,
2

c
k
c
l

2m
m
2m

ml2 cl k 0

cc 2m n critical damping coefficient

Heavy damping: c > cc

x C1e l1t C2 e l2t

- negative roots
- nonvibratory motion

Critical damping: c = cc
x C1 C2t e nt

- double roots
- nonvibratory motion

Light damping: c < cc

x e c 2m t C1 sin d t C2 cos d t
2

d n
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c
1 damped frequency
cc
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Damped Forced Vibrations

mx cx kx Pm sin f t

x xcomplementary x particular

xm
xm

Pm k

tan

2c cc f n
1 f n

2c c

2 2

n 2

magnification
factor

phase difference between forcing and steady

state response

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Vector Mechanics for Engineers: Dynamics

Electrical Analogues
Consider an electrical circuit consisting of an inductor,
resistor and capacitor with a source of alternating voltage
di
q
Em sin f t L Ri 0
dt
C
1
Lq Rq q Em sin f t
C
Oscillations of the electrical system are analogous to
damped forced vibrations of a mechanical system.

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Electrical Analogues
The analogy between electrical and mechanical
systems also applies to transient as well as steadystate oscillations.
With a charge q = q0 on the capacitor, closing the
switch is analogous to releasing the mass of the
mechanical system with no initial velocity at x = x0.
If the circuit includes a battery with constant voltage
E, closing the switch is analogous to suddenly
applying a force of constant magnitude P to the
mass of the mechanical system.

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Electrical Analogues
The electrical system analogy provides a means of
experimentally determining the characteristics of a given
mechanical system.
For the mechanical system,
m1x1 c1 x1 c2 x1 x 2 k1 x1 k 2 x1 x2 0

m2 x2 c2 x2 x1 k 2 x2 x1 Pm sin f t
For the electrical system,
q q q
L1q1 R1 q1 q 2 1 1 2 0
C1
C2
q q
L2 q2 R2 q 2 q1 2 1 Em sin f t
C2
The governing equations are equivalent. The characteristics
of the vibrations of the mechanical system may be inferred
from the oscillations of the electrical system.
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