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Mechanical Vibrations

Mechanical Vibrations
Instructor : Engr. Izhar
Mechanical Engineering Department, CECOS
University

BSc. Mechatronics Engineering (2009-2013)


UET Peshawar (Gold Medalist)

MSc. Automation & Control Engineering


(2013-2015)
UET Peshawar (In Progress)
Vibration analysis
procedure

3
Free/Natural vibrations
Natural frequency
Or
Undamped natural
frequency

k
n
m

4
Free/Natural vibrations

How ?

k
n
m

5
Free/Natural vibrations
Equation of motion
mx kx 0
Response of the system
x A sin n t
x An cos n t x An2 sin n t

mA sin n t kA sin n t 0
2
n

k
n
m 6
Energy method
k
n
m

k
n
m
7
Vibration analysis
procedure

8
Free/Natural vibrations
Natural frequency
Or
Undamped natural
frequency

k
n
m

9
Free/Natural vibrations

How ?

k
n
m

10
Free/Natural vibrations
Equation of motion
mx kx 0
Response of the system
x A sin n t
x An cos n t x An2 sin n t

mA sin n t kA sin n t 0
2
n

k
n
m 11
Modeling
k

12
Modeling
Newtons law
k

mx F m

mx kx
k
mx kx 0 n
m
13
Modeling
Newtons law

I T
I kt

I kt 0
kt
n
I
14
Energy method

PE KE contant k

U T contant
m

d
U T 0
dt

15
Energy method
PE Strain energy
1
kx 2 k
2
1 m
KE mx 2

2 x

d
U T 0
dt
d 1 1 2
kx mx 0
2

dt 2 2 16
Energy method

d 1 1 2
kx mx 0
2
k
dt 2 2
m
kxx mx x 0
x

x kx mx 0

mx kx 0
17
Energy method
PE Strain energy
1
kt 2
2
1 2
KE I
2
d
U T 0
dt
d 1 1 2
kt I 0
2

dt 2 2 18
Energy method
d 1 1 2
kt I 0
2

dt 2 2

kt I 0

kt I 0

I kt 0

19
Class problem
Determine
1. Equation of motion
2. Natural frequency

Use both Newtons and energy


method

20
Class problem
Newtons law
J o To

J o mgl sin

J o mgl sin 0
sin (for small )

J o mgl 0
21
Class problem
Newtons law
J o mgl 0

mgl
0
Jo
mgl
n
Jo

J o ml 2
n
g
l
22
Class problem
Energy method

23
Class problem
Energy method

24
Equation of motion
Newtons law k

mx F m

mx kx x

mx kx 0 k
n
m
x ( 0) x0
x ( 0) v0
25
Equation of motion
Newtons law k

mx F m

mx kx x

mx kx 0 k
n
m
x ( 0) x0
Initial
x ( 0) v0 conditions
26
Equation of motion
Newtons law k

mx F m

mx kx x

mx kx 0 k
n
m
x (0) x0 Initial displacement =
x (0) v0 x at t = 0
Initial velocity = v0
0
27
2nd Order Ordinary Differential Equation
with Constant Coefficients

mx kx 0

28
Periodic motion

Phase determine the initial value of the sine


function
29
Phase is measured in radians
Periodic motion

Phase determine the initial value of the sine


function
30
Phase is measured in radians
Periodic motion

31
Amplitude and Phase
from the initial conditions

32
Relationship between x, v, a

-
A
2
A

- 33
2A
Relationship between x, v, a

34
Relationship between x,
v, a
k

Equilibri
um
position

35
Harmonic motion
Newtons law
mx kx 0 k

m
Other forms of
solutions x

36
Harmonic motion
Newtons law
mx kx 0 k

m
Other forms of
solutions x

How ?
Check it

37
Harmonic motion
Newtons law
mx kx 0

38