Mechanical Vibration and Application in Construction Machinery

MECHANICAL VIBRATION
AND APPLICATION
IN CONSTRUCTION MACHINERY
Associate Prof. Dr. Nguyen Hong Ngan
Hochiminh City University of Technology
CHAPTER: 2
1. LEARNING OBJECTIVES
1. Describing these motions by applying kinematic principles.
2. Describing degrees of freedom (DOF) of physical systems.
3. Applying kinetic principles using Work-Energy method, and
Equation of Motion method.

4. Understanding SDOF undamped systems.
5. Capable of obtaining analytical solution for free vibration.
6. Understand the response from translational and rotational SDOF
systems solved using Newtons Law of Motion.
2
Chapter 2
2. TYPES OF MOTIONS (CONT.)

Generalized Coordinate and DOFs
Chapter 2
2. TYPES OF MOTIONS (CONT.)
Chapter 2
3. PLANE MOTION OF RIGID BODY

Newtons Law of Motions
1st Law: A body at rest or in motion (constant velocity) will remain
unchange until there exist unbalance force acting on it.

2nd Law: The sum of all external forces is equal to the rate of change
of momentum.
The net force vector and acceleration vector act on the same line of
action. The quantity of F and a, becomes scalar if the mass is
constrained to move in one direction.
d mv
dt
d v
dt
Chapter 2
m.a
3. PLANE MOTION OF RIGID BODY (CONT.)
3rd Law: Action and reaction between interacting bodies are

equal in magnitude, collinear and acts in the opposite direction.
Chapter 2
Solving plane motion problem

Construct Free Body Diagram (FBD) and include all the
forces and reaction forces, dimensions
Chapter 2

Mass moment of inertia
About a reference axis is defined as
2
r
. dm
where r is the distance from the

reference axis to the element mass,
dm.
8
Chapter 2
Chapter 2
4. WORK-ENERGY METHOD
10
Chapter 2
4. WORK-ENERGY METHOD (CONT.)
11
Chapter 2
12
Chapter 2
13
Chapter 2
14
Chapter 2
6. SINGLE DEGREE OF FREEDOM

(SDOF) UNDAMPED FREE VIBRATION
Translational System: Solving using Newtons Law of Motion
Assumptions:
1. Vertical motion only. No

rotation about any axis.
2. No
hysteresis
damping
from spring
3. Neglect air resistance
4. Massless spring
15
Chapter 2
6. SINGLE DEGREE OF FREEDOM (SDOF)

UNDAMPED FREE VIBRATION (CONT.)
Free Body Diagram
At static equilibrium, static FBD yields;
0;
k mg 0
Eq. 3.1
16
Chapter 2

17
Chapter 2

18
Chapter 2

19
Chapter 2

20
Chapter 2

Therefore, the natural frequency (in cycle/s or Hz) is given as;
21
Chapter 2

Rotational System
Consider a pendulum system
Assumptions:
1. No rotation about the mass.

2. Plane motion
3. Neglect air resistance

4. Massless rod
22
Chapter 2

Free Body Diagram
Figure 3.4
23
Chapter 2

24
Chapter 2

Problem solving
A passenger car can be represented as an SDOF Quarter Vehicle
Model (QVM) as in Figure 3.5. Mass of the body is 345 kg and
the natural circular frequency, = 7 rad/s.
Calculate the suspension / tyre stiffness, k.
25
Chapter 2

Exercise 3: For the system of pulley and lifting as follows:

Analysis of the forces acting on the system, determine the
oscillation frequency of the system, bypassing the volume.
K2x2=2W
K2
2
x1
x2
W
W
A
1
x=2(x1+x2)
m
K1
W
K1x1=2W
26

mg
Chapter 2

x 2(
K K2
2W 2W
W
1
2
)
4W ( ) 4W 1
K1 K 2
K2q
K1 K 2
K1.K 2
K2q
K1.K 2
4( K1 K 2 )
Equation of motion:
mx K 2 q x 0
n
fn
K2q
m
n
1
2 4
K1 K 2
(rad / s )
4m( K1 K 2 )
K1 K 2
( Hz )
m( K1 K 2 )
27
Chapter 2

Exercise 4: For the system as shown: Determine the

equation of motion and oscillation frequency of the
object m.
K2
K1
K3
L1
L2
28
L3
Chapter 2

Solution:
T
1 2
mx
2
2
1 x 1 2x 1
U K1 K 2 K 3 x 2
2 3 2 3 2
dT dU 0
x
4
mxx K1 x K 2 xx K 3 xx 0
9
9
K 4K2
mx ( 1
K3 ) x 0
9
9
K1 4 K 2 9 K 3 1 K1 4 K 2 9 K 3

(rad / s )
9m
3
m
29
Chapter 2

Exercise 5: For the system as shown: Determine the

frequency of the object m
K
4K
m
4K
30
Chapter 2

Solution:
2KxA = 2T
2KxB = 2T
T = KxA
T = KxB
x 2( xA xB ) 2T (
xA = T/K
xB = T/K
1 1
T
T
T
)4
K K
K K K td
4
K td
K
m
4m
31
Chapter 2

Exercise 6: A metal block is placed on two cylindrical wheels turn in

opposite directions with the same angular velocity. When the
metal center of mass shifted around x, the movement of
metal will be harmonic. If the frequency of mass movement is w,
determine the friction coefficient between the metal and two wheels.
G
32
Chapter 2

Solution:
w(a x)
2a
w(a x)
N1
2a
N1
F1 F2 ( N1 N 2 )
w
F
x
1
2
F2 N 2
a
w
General form of the spring force
k
F1 N1
Frequency:
N1
N2
a
T
2
2
2
k
gk
g
2T
If the frequency of mass is given, then:
a 2
k
kg
kg wg g
w
w
w
aw
a
g
Friction coefficient:
Chapter 2
33

Exercise 7: Determine an equation of motion of the rod
K1
Kt
mg
K2
Ngam
L/2
34
Chapter 2

tg
x1
x
a 1
a
tg
M J
K1
kt k2 L2 sin k1a 2tg mg
Kt
L
1
sin mL2
2
3
mg
1
(kt k2 L k1a
) mL2
2
3
1
mg
mL2 ( kt k2 L k1a
) 0
3
2
mg
K2
Ngam
L/2
35
Chapter 2

1
1 1
M ( L ) 2 ( m)( L ) 2
2
2 3
L
PE MgL(1 cos ) mg (1 cos )
2
d
( KE PE ) 0
dt
m
m
( M ) L2 gL( M ) sin . 0
3
2
m
m
M
M 2
g
2 ( g ) 0

sin ( ) 0
m
m L
M
L
M
3
3
KE
m
L
m
2 ( g )(rad / s )
m L
M
3
M
36
Chapter 2

Mechanical Vibration and Application in Construction Machinery

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MECHANICAL VIBRATION

Associate Prof. Dr. Nguyen Hong Ngan

Hochiminh City University of Technology

Equation of Motion method.

Hochiminh City University of Technology

2. TYPES OF MOTIONS (CONT.)

Hochiminh City University of Technology

2. TYPES OF MOTIONS (CONT.)

Hochiminh City University of Technology

3. PLANE MOTION OF RIGID BODY

unchange until there exist unbalance force acting on it.

Hochiminh City University of Technology

3. PLANE MOTION OF RIGID BODY (CONT.)

3rd Law: Action and reaction between interacting bodies are

Hochiminh City University of Technology

3. PLANE MOTION OF RIGID BODY (CONT.)

Solving plane motion problem

Hochiminh City University of Technology

3. PLANE MOTION OF RIGID BODY (CONT.)

About a reference axis is defined as

where r is the distance from the

Hochiminh City University of Technology

3. PLANE MOTION OF RIGID BODY (CONT.)

Hochiminh City University of Technology

Hochiminh City University of Technology

4. WORK-ENERGY METHOD (CONT.)

Hochiminh City University of Technology

5. WORK-ENERGY METHOD (CONT.)

Hochiminh City University of Technology

5. WORK-ENERGY METHOD (CONT.)

Hochiminh City University of Technology

5. WORK-ENERGY METHOD (CONT.)

Hochiminh City University of Technology

6. SINGLE DEGREE OF FREEDOM

1. Vertical motion only. No

Hochiminh City University of Technology

6. SINGLE DEGREE OF FREEDOM (SDOF)

At static equilibrium, static FBD yields;

Hochiminh City University of Technology

6. SINGLE DEGREE OF FREEDOM (SDOF)

Hochiminh City University of Technology

6. SINGLE DEGREE OF FREEDOM (SDOF)

Hochiminh City University of Technology

6. SINGLE DEGREE OF FREEDOM (SDOF)

Hochiminh City University of Technology

6. SINGLE DEGREE OF FREEDOM (SDOF)

Hochiminh City University of Technology

6. SINGLE DEGREE OF FREEDOM (SDOF)

Hochiminh City University of Technology

6. SINGLE DEGREE OF FREEDOM (SDOF)

1. No rotation about the mass.

3. Neglect air resistance

Hochiminh City University of Technology

6. SINGLE DEGREE OF FREEDOM (SDOF)

Hochiminh City University of Technology

6. SINGLE DEGREE OF FREEDOM (SDOF)

Hochiminh City University of Technology

6. SINGLE DEGREE OF FREEDOM (SDOF)

Hochiminh City University of Technology

6. SINGLE DEGREE OF FREEDOM (SDOF)

Exercise 3: For the system of pulley and lifting as follows:

Hochiminh City University of Technology

6. SINGLE DEGREE OF FREEDOM (SDOF)