Department of Mechanical Engineering, Engineering Faculty, University of

Malaya


PROGRAMME : Bachelor of Engineering (Mechanical)
COURSE : Mechanical Engineering Lab
COURSE CODE : KMEM 3175
SEMESTER : 1
SESSION : 2011/ 2012

Vibration - One Degree of Freedom
Laboratory Report

Tey Ming Ren
KEM090057




October 2011
2


TABLE OF CONTENTS
1 ABSTRACT ........................................................................................................................... 3
2 INTRODUCTION/ THEORETICAL BACKGROUND ....................................................... 3
3 OBJECTIVES ........................................................................................................................ 6
4 RESULTS ............................................................................................................................... 6
4.1 Stiffness and Mass ........................................................................................................... 6
4.2 Transient Response .......................................................................................................... 7
5 DISCUSSION ........................................................................................................................ 9
6 CONCLUSION .................................................................................................................... 10
7 REFERENCES ..................................................................................................................... 10










3

1 ABSTRACT
I learned about system of vibration of one degree of freedom in this experiment. In this
experiment, cantilever with masses is used. And Linear Variable Differential Probe (LVDT)
is used as the measuring equipment. The first part of experiment is to get the mass and
stiffness information. It is in order to determine the undamped natural frequency e
o.
On the
other hand, the second part is to obtain the transient response of the system. It is in order to
determine the damping ratio,, damped natural frequency, e
d
and undamped natural frequency,
e
o.
Based on the results obtained, a graph of force versus displacement is plotted to obtain the
stiffness, k of system. In the same time, I measured the effective mass of the system. Plot a
graph of ln Y versus time also. Then all the values above are derived and calculated according
to formulas. When we compared, we knew the undamped natural frequency from the transient
responses system and from the stiffness mass information. Discussion was conducted to
figure out reasons the two different readings of undamped natural frequency. At last, errors
might occur also recorded and explained.

2 INTRODUCTION/ THEORETICAL BACKGROUND
Vibration involves the study of motion of masses about its equilibrium position. The simplest
form would be a one degree of freedom translational motion of a mass attached.
Complementary solution where RHS=0. This is when a system is in free vibration, the
response is called transient response. In this experiment, it is a free damped vibration.
Free vibration takes place when a system oscillates under the action of forces inherent in the
system itself due to initial disturbance, and when the externally applied forces are absent. The
system under free vibration will vibrate at one or more of its natural frequencies, which are
properties of the dynamical system, established by its mass and stiffness distribution. In actual
practice there is always some damping (e.g., the internal molecular friction, viscous damping,
aero-dynamical damping, etc.) present in the system which cause the gradual dissipation of
vibration energy and it result gradual decay of amplitude of the free vibration. Damping has
very little effect on natural frequency of the system, and hence the calculations for natural
frequencies are generally made on the basis of no damping. Damping is of great importance
in limiting the amplitude of oscillation at resonance. The relative displacement configuration
of the vibrating system for a particular natural frequency is known as the mode shape (or
Eigen function in continuous system). The mode shape corresponding to lowest natural
frequency (i.e. the fundamental natural frequency) is called as the fundamental (or the first)
mode. The displacements at some points may be zero. These points are known as nodes.
Generally nth mode has (n-1) nodes (excluding end points).The mode shape changes for
different boundary conditions of the cantilever.
Figure 1: Single Degree of Freedom System

k c
k
m
x
k
4

We can stimulate the cantilever system as in figure above. We can write the equation of
motion for the system as:
2
2
0
d x dx
m c kx
dt dt
+ + =
Determination of ,
Definition:
Undamped Natural Frequency
o
k
m
e =
Damping Ratio
cr
c
c
, =
Critical Damping 2
cr
c km =
d
e is the damped natural frequency (rad/s)
o
e is the undamped natural frequency (rad/s)
o is the decay rate (rad/s)
( )
1/ 2
2
1
d o
e e , =
o
o e , =
1/ 2
2
1
d
,
o e
,
=
(


2
D
d
T
t
e
=










5

Graph 1: Theoretical graph of displacement versus time of the cantilever system vibration

We define the equation of amplitudes x as below,
log log log
log log
t
t
e e e
e e
x Ae
x A e
x A t
,
o
o

=
= +
=

Graph 2: log
e
x versus t of the transient response

t
Gradient = -
log
e
x
T
t
o
t
1
t
2
t
3
t
4
x(t
o
)
x(t
1
)
x(t
2
)
x(t
3
)
6

The gradient will give o and hence , can be calculated. (Lab Sheet for Students, 2011)
3 OBJECTIVES
1. We have to determine undamped natural frequency
o
e of one degree of freedom system
from the mass and stiffness information.
2. We have to determine the damping ratio , and the damped natural frequency
d
e and
undamped natural frequency
o
e from the transient response of the system.
3. We have to compare the undamped natural frequencies obtained from (1) and (2).
(Lab Sheet for Students, 2011)

4 RESULTS
4.1 Stiffness and Mass

Force (N) Displacement (mm)
0 0.00
2 25.62
4 43.42
6 43.52


Based on the results of graph above, I get the gradient of the slope is 0.117 N/mm.
y = 0.117x - 0.291
-1
0
1
2
3
4
5
6
7
0 5 10 15 20 25 30 35 40 45 50
F
o
r
c
e

(
N
)

Displacement (mm)
Graph 3: Force versus Displacement
7


4.2 Transient Response


Displacement,
Y (mm) Time (s) ln Y T
D
(s)
Y1 4.12 0.00 1.416 0.0000
Y2 3.71 0.12 1.311 0.1048
Y3 3.31 0.24 1.197 0.1141
Y4 2.92 0.36 1.072 0.1254
Y5 2.55 0.47 0.936 0.1355
Y6 2.28 0.59 0.824 0.1119



From the graph above, we get the gradient of the slope is -1.020s
-1
.
4.3 Calculation
Part I: Stiffness and Mass
Stiffness, k = Gradient of Graph
=
x
F
A
A
= 0.1170N/mm
y = -1.020x + 1.428

0.000
0.200
0.400
0.600
0.800
1.000
1.200
1.400
1.600
0.00 0.10 0.20 0.30 0.40 0.50 0.60 0.70
l
n

Y

Time (s)
Graph 4: ln Y versus Time
8

= 117.0 N/m
Effective mass, m
m = 4.0 N
= 4.0/9.81
= 0.4077 kg

Undamped Natural Frequency, e
o

e
o
=
m
k

=
117.0
0.4077

=
16.9404 rads
-1

Part II: Transient Response
Decay rate, o = Gradient of graph
=
t
x
e
A
Alog

Since -o = -1.020 s
1

So, o = 1.020 s
1

Damped Natural Frequency, e
d

T
D
=
0.1048 0.1141 0.1254 0.1355 0.1119
5
+ + + +

= 0.1183 s
e
d
=
D
T
t 2
=
2
0.1183
t

= 53.1123 rad s
1
Damping ratio, ,

2
1 ,
,
e o

=
d


2
1.020 53.1123
1
,
,
=

9

Damping ratio, , = 0.01920

Undamped Natural Frequency, e
o

e
d
=
2
1 , e
o

53.1123=
2
0
1 0.01920 e
e
o
= 53.1221 rad s
1


Damping Coefficient, c
Critical damping, c
cr
= km 2
= 2 117.0 0.4077
= 13.8132 Ns m
1
c = , c
cr
= 0.0192013.8132
= 0.26521 Ns m
1

Percentage of Difference of e
o
by theory and by experiment:
Percentage of Difference = 100
*

o
o o
e
e e

=
53.1221 16.9404
100
53.1221

= 68.11%

5 DISCUSSION
The T
D
value is calculated and decay rate, o could be determined by plotting the graph of ln Y
versus time. Based on the calculation above, the differences of undamped natural frequency
(e
o
) by these two sources are big, which is 68.11%
The inaccuracy of the measurement is probably affected by the experimental errors which are
be caused by the following factors:

10

1. Fixed end condition of the cantilever beam could be ensured by properly gripping one end
of the beam. The end of the beam should be fixed rigidly so that cantilever end condition
prevails in experiment.
2. Care should be taken that the cables of the measuring instrument should not affect the
cantilever motion.
3. The load should be placed on the cantilever slowly. Initial displacement of the beam should
be small so that linearity assumption holds true.
4. It is also suggested to repeat the experiment several times to confirm the consistency of
results.
5. The sensitivity of the sensor also may cause the inaccuracy readings.


6 CONCLUSION
The undamped natural frequency e
o
of one degree of freedom system can be
determined from mass and stiffness information. The damping ratio , and the damped
natural frequency e
d
and undamped natural frequency e
o
can be determined from the
transient response of the system. The natural frequency determined by using vibrating
system is more accurate compare to the static system.
7 REFERENCES
1. Benson H. Tongue, (1996). Principle of Vibration. Oxford University Press.
2. William J. Palm III, Mechanical Vibration, John Wiley and Sons, 2001.
3. T. Irvine, Partial Fractions in Shock and Vibration Analysis, Vibrationdata Publications,
1999.

4. Dynamics of structures by Anil K chopra.

5. T. Irvine, The State Space Method for Solving Shock and Vibration Problems,
Vibrationdata Publications, 2005.

6. J.L. Meriam and L.G. Kraige, Engineering Mechanics, John Wiley, 2002.
7. Mechanics of Materials Fourth Edition in SI Units, McGraw-Hill,2006, Chapter 9
(Deflection of Beams), pg 136-137, and pg 150,Ferdinand P. Beer, E. Russell Johnston. Jr,
John T. DeWolf.
8. Labsheet for Students, 2011, Laboratory Coordinator
9. Lecture notes, KMEM3211, Mr Ali