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Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
22.457 Mechanical Vibrations - Chapter 1
Mechanical Vibrations
Chapter 1
Peter Avitabile
Mechanical Engineering Department
University of Massachusetts Lowell
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Dr. Peter Avitabile
Modal Analysis & Controls Laboratory
22.457 Mechanical Vibrations - Chapter 1
Basic Nomenclature and Terms Used
System oscillation under action of forces inherent
in system and external forces absent
Vibration occurs at one or more of the system
natural frequencies
Natural frequencies are dynamic characteristics
of based on system mass and stiffness
Free vibration:
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Dr. Peter Avitabile
Modal Analysis & Controls Laboratory
22.457 Mechanical Vibrations - Chapter 1
Basic Nomenclature and Terms Used
System oscillation under action of external forces
If excitation is oscillatory, then the response will
occur at the excitation frequency
If excitation occurs at one of the natural
frequencies, then the condition of resonance
occurs
Forced vibration:
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Dr. Peter Avitabile
Modal Analysis & Controls Laboratory
22.457 Mechanical Vibrations - Chapter 1
Basic Nomenclature and Terms Used
All dynamic systems are subject to dissapative
forces - friction, structural resistances
Generally, damping in structural systems is small
and has little effect on the natural frequency
However, damping has a large effect on
minimizing the resonse of any structural system
Damping:
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Dr. Peter Avitabile
Modal Analysis & Controls Laboratory
22.457 Mechanical Vibrations - Chapter 1
Basic Nomenclature and Terms Used
The number of independent coordinates required
to uniquely describe the motion of a system are
degrees of freedom
A rigid body will have 6 DOF to describe its
motion - 3 translation and 3 rotation
Degrees of Freedom (DOF):
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Dr. Peter Avitabile
Modal Analysis & Controls Laboratory
22.457 Mechanical Vibrations - Chapter 1
Harmonic Motion
Motion that repeats in regular intervals of time
is called periodic motion
Reciprocal of the repititon time is the frequency
If the motion is periodic, then
Oscillatory Motion:

=
1
f
) t ( x ) t ( x + =
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Dr. Peter Avitabile
Modal Analysis & Controls Laboratory
22.457 Mechanical Vibrations - Chapter 1
Harmonic Motion
Harmonic motion can best be seen in the figure
with the amplitude and period noted
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Dr. Peter Avitabile
Modal Analysis & Controls Laboratory
22.457 Mechanical Vibrations - Chapter 1
Harmonic Motion
The motion is described as

=
1
2 sin A x
(1.1.1)
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Dr. Peter Avitabile
Modal Analysis & Controls Laboratory
22.457 Mechanical Vibrations - Chapter 1
Harmonic Motion
The displacement is written as
The quantity is written in radians/sec and is
referred to as the circular frequency as
The period, , and frequency, f, are measured in
seconds and cycles/second, respectively
(1.1.2)
t sin A x =
f 2 =
(1.1.3)
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Dr. Peter Avitabile
Modal Analysis & Controls Laboratory
22.457 Mechanical Vibrations - Chapter 1
Harmonic Motion
The displacement is written as
The velocity is written as
The acceleration is written as
Note that
(1.1.2)
t sin A x =
(1.1.4)
(1.1.5)
) 2 / t sin( A t cos A x + = = &
) t sin( A t sin A x
2 2
+ = = & &
x x
2
= & &
(1.1.6)
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Dr. Peter Avitabile
Modal Analysis & Controls Laboratory
22.457 Mechanical Vibrations - Chapter 1
Harmonic Motion
Note that the velocity leads the displacement by
90 degress and the acceleration leads the velocity
by another 90 degrees
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Dr. Peter Avitabile
Modal Analysis & Controls Laboratory
22.457 Mechanical Vibrations - Chapter 1
Harmonic Motion
In exponential form, these equations are
expressed as
(1.1.7)
(1.1.8)
+ =

sin i cos e
i
iy x t sin iA t cos A Ae z
t i
+ = + = =

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Dr. Peter Avitabile
Modal Analysis & Controls Laboratory
22.457 Mechanical Vibrations - Chapter 1
Periodic Motion
J.Fourier (1768-1830) showed that any periodic
motion can be represented by a series of sines and
cosines that are harmonically related
L
L
+ + +
+ + + =
t sin b t sin b
t cos a t cos a a ) t ( x
2 2 1 1
2 2 1 1 0
2
1
(1.2.1)
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Dr. Peter Avitabile
Modal Analysis & Controls Laboratory
22.457 Mechanical Vibrations - Chapter 1
Periodic Motion
This results in a and b as
(1.2.3)
dt t sin ) t ( x
2
b
dt t cos ) t ( x
2
a
2 /
2 /
n n
2 /
2 /
n n

=
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Dr. Peter Avitabile
Modal Analysis & Controls Laboratory
22.457 Mechanical Vibrations - Chapter 1
Periodic Motion
And ultimately (with some manipulation)
or
(1.2.4)
( ) ( ) [ ]
[ ]
( )
n n
2
1
n
0
0
n
t i
n
1 n
t i *
n
t i
n
0
1 n
t i
n n
2
1
t i
n n
2
1
0
ib a c ;
2
a
c where
e c e c e c
2
a
e ib a e ib a
2
a
) t ( x
n n n
n n
= =
= + + =
+ + + =

=

dt e ) t ( x
1
dt ) t sin i t )(cos t ( x
1
c
2 /
2 /
t i
n
2 /
2 /
n n
n

= (1.2.6)
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Dr. Peter Avitabile
Modal Analysis & Controls Laboratory
22.457 Mechanical Vibrations - Chapter 1
Vibration Terminology
Average value is
Peak to peak, peak and RMS are commonly used

=
T
0
2
dt ) t ( y
T
1
RMS
T = Period
P
e
a
k

t
o

P
e
a
k
P
e
a
k
sin for 707 . 0 RMS =

=
T
0
T
1
dt ) t ( x
T
lim
x
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Dr. Peter Avitabile
Modal Analysis & Controls Laboratory
22.457 Mechanical Vibrations - Chapter 1
Vibration Terminology
The decibel is another commonly used term and
can be expressed as a power ratio, p, or as a
ratio of amplitidues, x, as

=
2
1
10
2
2
1
10
2
1
10
x
x
log 20 dB
x
x
log 10 dB
p
p
log 10 dB
(1.3.3)