Introduction

1
Dynamics II
Dr. Jorge A. Olrtegui Yume, Ph.D.
INTRODUCTION TO MECHANICAL
VIBRATIONS
Lecture No. 1
Mechanical Engineering School
National University of Trujillo
Introd. to Mech. Vibrations Dr. Jorge A. Olortegui Yume, Ph.D. 2
The Millenium Bridge
PLACE :
London, England
OPEN TO PUBLIC:
June 10th, 2000
CLOSED:
3 days after!!!
CAUSE:
Vibrations felt by pedestrians
The Wobbly Bridge
COST:
28.4 Million Dollars
RE-OPEN TO PUBLIC:
Feb. 22nd, 2002
ANALYSIS, REINFORCING, TESTING COST:
7.8 MILLION Dollars
ANALYSIS:
Based upon Tacoma Narrows Bridge case
THE TACOMA NARROWS BRIDGE
PLACE:
Tacoma - Gig Harbor, Washington, USA
OPEN TOPUBLIC:
July 1st, 1940
COLLAPSE:
Nov 7th, 1940
CAUSE:
RESONANCE
Wind-induced oscillation
frequency coincided with one of
the bridges natural frequencies
TODAYS TACOMA NARROWS BRIDGE
BEFORE AFTER
AFTER
BEFORE
BEFORE WE CAN SOLVE SUCH COMPLEX
PROBLEMS .
NEED MECHANICAL VIBRATIONS FUNDAMENTALS
CRAWL, WALK, RUN AND THEN
FLY
WHAT DO WE DO IN THE MECH.
VIBRATIONS COURSE?
Physical
System
VIBRATIONS COURSE?
Physical
System
Engineering
Model
x
u
2
k
1
k
2
l
1
l
VIBRATIONS COURSE?
Physical
System
Engineering
Model
Mathematical
Model
( )
( )
(
=
(
+
+
+
(
0
0
0
0
2
2 2
2
1 1 2 2 1 1
2 2 1 1 2 1
2
u u
x
l k l k l k l k
l k l k k k x
mr
m

VIBRATIONS COURSE?
Physical
System
Engineering
Model
Mathematical
Model
Mathematical
Solution
( )
( )
( ) ( )
2 2
2
2 1 1
1
1
sin
1
sin
1
e
o
e
o
u
+
(
+ +
(
=
(
t A t A
t
t x
VIBRATION: Any motion that repeats itself after an
interval of time
Examples:
Motion of a plucked guitar string
Ground motion in an earthquake
Beating of your heart
Oscillation of mass attached to spring & damper
Pendulum
MECH. VIBRATIONS FUNDAMENTALS
Vibration
Mean of Epotential storage
Spring (k) or elasticity in general
Mean of Ekinetic storage
Mass (m) or inertia in general
Mean of gradual Energy disipation
Damper (c), friction ()
ViIBRATION
VIBRATORY SYSTEM PARTS
2
2
1
kx E
potential
=
2
2
1
mv E
kinetic
=
2
cv
dt
dE
P
dissipated
dissipated
= =
DEGREE OF FREEDOM
Mn. # of independent coordinates needed to define position of all parts of
a system at any instant.
ONE DEGREE OF FREEDOM SYSTEM (1-DOF)
Mass-Spring
System
TWO DEGREE OF FREEDOM SYSTEM (2-DOF)
Torsional
system
THREE DEGREE OF FREEDOM SYSTEM (3-DOF)
N DEGREE OF FREEDOM SYSTEM (N-DOF)
A cantilever beam showing an infinite number of DOF
N
CONTINUOUS
SYSTEM
N = Finite #
DISCRETE OR
LUMPED SYSTEM
Model as
VIBRATION CLASIFICATION
Several criteria
Free Vibration:
System disturbed initially then
left to oscillate on its own
Forced Vibration:
System subject to an external
force usually oscillating
Undamped Vibration:
If no energy is dissipated by
friction or othe resistance
Damped Vibration:
If energy is gradually lost
VIBRATION CLASIFICATION
Linear Vibration:
Basic components of system
behave linearly
Non-linear Vibration:
Real components are non linear
Equation Of Motion (EOM)
0 = + +
- - -
kx x c x m
IF
m, c, k are constants
THEN
Diff. Equation is LINEAR
( ) 0 = + +
- - -
x x k x c x m
Diff. Equation is NON-LINEAR
Great!. Soln. To EOM is usually
known and relatively easy to use
Ooops!. Soln. To EOM is usually not
known and/or difficult to obtain and
difficult to use Num. Methods
SOME CONCEPTS IN VIBRATIONS MODELLING
0 = + +
- - -
kx x c x m
- -
=
x m F
Newtons 2nd Law (Dynamics)
( ) ( ) | e
e
+ =

t e X t x
d
t
n
sin
1 1
Which part of the
modelling
procedure is this?
Example: The figure shows a motorcycle and its rider. Develop a
sequence of three mathematical models of the system to investigate
vibration in the vertical direction. Consider the elasticity of the tires, struts,
and rider; damping of the struts (vertically) and the rider; masses of the
wheels, body vehicle and rider.
Solution:
Physical System: Rider-Motorcycle
Model Rider-Motorcycle using
basic components
Model 1
1-DOF
keq = stiffness of tires, struts, and rider
ceq = includes damping of struts, and rider
meq = mass of wheels, vehicle body, and rider
Elasticity k (stiffness) of tires, struts, and rider
Energy dissipation c( damping) of struts and rider
Inertia m (mass) of wheels, vehicle body, and rider
Solution:
basic components
Model 2
2-DOF
Stiffness of tires & struts separately. Rider stiffness ~0
Struts damping separately and rider damping ~0
Mass of vehicle body and rider together
Elasticity k (stiffness) of tires, struts, and rider
Energy dissipation c( damping) of struts and rider
Inertia m (mass) of wheels, vehicle body, and rider
Solution:
basic components
Model 3
3-DOF
Stiffness of tires, struts and rider considered
Struts and rider damping considered
Masses of tires, vehicle body and rider considered
Solution:
basic components
Model 4
2-DOF
Struts Stiffness together. Rider stiffness ~0
Struts damping together and rider damping ~0
Masses of vehicle body and rider together
Masses of wheels together
Exercise: A study of the
vibratory response of a
human body subjected to
vibration/shock is important
in many applications. In a
standing posture, the
masses of head, upper
torso, hips, and legs and
the elasticity and damping
of the neck, spinal column,
abdomen, and legs
influence the vibratory
response characteristics.
Develop a sequence of
three improved
approximations for
modeling the human body
Now the ball is on your court !!!
HEAD
UPPER
TORSO
HIPS
ARM
LEGS
NECK
SPINAL
COLUMN
Solution:
HEAD
UPPER
TORSO
HIPS
ARM
LEGS
NECK
SPINAL
COLUMN
Solution:
HEAD
UPPER
TORSO
HIPS
ARM
LEGS
NECK
SPINAL
COLUMN
Solution:
HEAD
UPPER
TORSO
HIPS
ARM
LEGS
NECK
SPINAL
COLUMN
SHOULDER
Solution:
HEAD
UPPER
TORSO
HIPS
ARM
LEGS
NECK
SPINAL
COLUMN
SHOULDER
MECHANICAL VIBRATIONS FUNDAMENTALS
BASIC ELEMENTS OF A VIBRATING SYSTEM
Spring Elements
Linear
Mass and Damping negligible
Restoring Force opossed to
deformation
Assume : x1 > x2
Fext Fext Fint
Fint
Fext = Fint
Deforming Internal
Spring Elements
Free Body Diagrams (FBDs)
Strectching
(Coming out)
Shrinking
(Coming in)
Lo
Lo
x
Fs
Lf
Fs
x
Lf
Fs Fs
Spring FBD
Shrinking
Fs
W
N
(Coming in)
Stretching
Fs
W
N
(Coming out)
FBD of Body attached to spring
F
s
: Spring Force (in N)
Epot : Potential Energy (in J)
x : Spring elongation (in m)
k : Spring Constant or Stiffness (in N/m)
Spring Force Potential Energy stored in spring
kx F
s
=
2
2
1
kx E
pot
=
Spring Combinations
In Parallel
Equivalent spring can replace original system
All elongations are equal
Forces in each spring are different
Equilibrium
keq
=
2 1
o o o = =
st
=
1 1 1
o k F
st
k F o
2 2
=
st
k F o
1 1
=
=
2 2 2
o k F
2 2 1 1 2 1
o o k k F F W + = + =
+ = + =
st st st eq
k k F F k o o o
2 1 2 1
2 1
k k k
eq
+ =
Spring Combinations
In Series
Equivalent spring can replace original system
Total elongation is summation of elongations
Forces in each spring are equal because of equilibrium
=
2 1
o o o + =
st
2 1
F F W = =
=
1 1 1
o k F =
1 2
o k W
=
2 2
o k W =
2 2 2
o k F
1
1
o =
k
W
2
2
o =
k
W
2 1
o o o + =
st
+ =
2 1
k
W
k
W
k
W
eq
2 1
1 1 1
k k k
eq
+ =
keq
Spring Combinations in general
n eq
k k k k + + + = ...
2 1
eq n
o o o o = = = = ...
2 1
eq eq n n
seq sn s s
k k k k
F F F F
o o o o = + +
= + +
...
...
2 2 1 1
2 1
In Parallel
nk k
eq
=
Special case
k k k k
n
= = = ...
2 1
n eq
k k k k
1
...
1 1 1
2 1
+ + + =
k k k k
n
= = = ...
2 1
n
k
k
eq
=
2 = n
2 1
2 1
k k
k k
k
eq
+
=
eq n
o o o o = + + + ...
2 1
eq
seq
n
sn s s
k
F
k
F
k
F
k
F
= + + ...
2
2
1
1
In Series
Special case
Special case
Solution:
Example: Find the equivalent stiffness k of the following system diameter d = 2 cm
Springs in parallel and series:
k
1
k
2
k
3
k
4
m
k
5
k
3
k
4
m
k
1
+k
2
+k
5
Solution:
m
4 3
4 3
5 2 1
k k
k k
k k k k
eq
+
+ + + =
m
k
1
+k
2
+k
5

=
1
1
k
3
+
1
k
4
=
k
3
k
4
k
3
+ k
4
k
3
k
4
m
k
1
+k
2
+k
5
Exercise: Determine the equivalent spring constant of the system shown
Your turn !!!
Solution:
keq
=
Masa suspendida al final de una viga en voladizo (Flexin):
De Resistencia de Materiales
Defleccin Estatica al final de una viga en
voladizo debido a masa m en el extremo.
Asumir que masa de barra << m
( )
EI
l mg
EI
Wl
st
3 3
3 3
= = o
o k F =
o
F
k =
Ley de Hooke Analoga
3
3
l
EI W
k
st
= =
o
Sistema Real o Situacin Fsica
(a) Modelo de 1GDL (asume que no hay amortiguamiento c=0)
Masa suspendida al final de una barra (Torsin):
(a) Sistema Real o Situacin Fsica
(b) Modelo de 1GDL (asume que no hay amortiguamiento )
De Resistencia de Materiales
Desplazamiento angular quasi-estatico al
final de una barra redonda debido a torque
M en el extremo.
4
4
32
32
d G
ML
d
G
ML
GI
ML
p
st
t
t
u =
|
|
.
|
\
|
= =
u
t
k M =
u
M
k
t
=
Ley de Hooke Analoga
L
d G
d G
ML
M M
k
st
t
32
32
4
4
t
t
u
= = =
( ) t u
(a) (b)
M
L G
L
d G
k
t
32
4
t
=
d
Constantes de Rigidez para otros Tipos Elementos Simples (Ejemplo)
Solution:
Example: The figure shows the suspension system of a freight truck with a parallel
spring arrangement . Find the equivalent spring constant of the suspension if
each of the three helical springs is made of steel (G=80x10
9
N/m
2
) and has five
effective turns, mean coil diameter D =20 cm, and wire diameter d = 2 cm
The stiffness of each helical spring is:
( )( )
( ) ( )
m N
n D
Gd
k / 000 , 40
5 20 . 0 8
02 . 0 10 80
8
3
4
9
3
4
=
= =
Parallel spring arrangement:
( ) m N m N k k
eq
/ 000 , 120 / 000 , 40 3 3 = = =
Solution:
Ejemplo: Determine the
torsional spring constant
of the steel propeller shaft
shown
Consider shaft by parts: 12 y 23
Induced torque in any cross section of the shaft equal to the applied torque
T (draw imaginary sections at A-A y B-B)
Segments 12 y 23 regarded as series springs
( )
( )
( ) ( ) ( ) ( )
( )
rad m N
l
d D G
l
GJ
k
t
/ 10 53 . 25
2 32
2 . 0 3 . 0 10 80
32
6
4 4
9
12
4
12
4
12
12
12
12
=

=
= =
t
t
Solution: (contd)
( )
( )
( ) ( ) ( ) ( )
( )
rad m N
l
d D G
l
GJ
k
t
/ 10 9 . 8
3 32
15 . 0 25 . 0 10 80
32
6
4 4
9
23
4
23
4
23
23
23
23
=

=
= =
t
t
Series spring
( )
( ) ( )
( ) ( )
rad m N
k k
k k
k
t t
t t
eq
t
/ 10 6 . 6
6
23 12
23 12
=
+
=
( ) ( ) ( )
23 12
1 1 1
t t
eq
t
k k k
+ =
BIBLIOGRAPHY
BSICA:
Thomson, W.T., Dahleh, M.D., 1997, Teoria de Vibraciones con Aplicaciones, Prentice Hall
Iberoamericana, 5ta Edicin, Mxico.
Inman, D., 2007, Engineering Vibration, Prentice Hall, 3rd Edition, USA.
Moore, H., 2008, Matlab for Engineers, Prentice Hall, 2nd Edition, USA.
COMPLEMENTARIA:
Balachandran, B., Magrab, E., 2006, Vibraciones, Thomson, 5ta Edicin, Mxico
Rao, S.S., 2004, Mechanical Vibrations, Ed. Prentice Hall, 4th Edition, USA.
ESPECIALIZADA:
Hartog, D., 1974, Mecnica de las Vibraciones, Cecsa, Mexico.
Harris, C., Piersol, A., 2001, Harris Shock and Vibration Handbook, McGraw Hill Professional,
5th Edition. USA.

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