Mechanical

Vibrations
Singiresu S.
Rao
SI Edition
Chapter 1
Fundamentals of
Vibration

Course Outline
1.
2.
3.
4.
5.
6.
7.

Fundamentals of Vibration
Free Vibration of Single DOF Systems
Harmonically Excited Vibration
Vibration under General Forcing
Conditions
Two DOF Systems
Multidegree of Freedom Systems
Determination of Natural Frequencies
and Mode Shapes

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Course Outline
8.

Continuous Systems

9.

Vibration Control

10.

Vibration Measurement and Applications

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Chapter Outline
1.1 Preliminary Remarks
1.2 Brief History of Vibration
1.3 Importance of the Study of Vibration
1.4 Basic Concepts of Vibration
1.5 Classification of Vibration
1.6 Vibration Analysis Procedure
1.7 Spring Elements
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Chapter Outline
1.8 Mass or Inertia Elements
1.9 Damping Elements
1.10 Harmonic Motion
1.11 Harmonic Analysis

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1.1 Preliminary Remarks

Examination of vibrations important role

Vibration analysis of an engineering system
Definitions and concepts of vibration
Concept of harmonic analysis for general
periodic motions

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1.3 Importance of the Study of Vibration

Why study vibration?
Vibrations can lead to excessive deflections
and failure on the machines and structures
To reduce vibration through proper design of
machines and their mountings
To utilize profitably in several consumer and
industrial applications
To improve the efficiency of certain machining,
casting, forging & welding processes
To stimulate earthquakes for geological
research and conduct studies in design of
nuclear reactors
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1.4 Basic Concepts of Vibration

Vibration = any motion that repeats itself after
an interval of time
Vibratory System consists of:
1) spring or elasticity
2) mass or inertia
3) damper
Involves transfer of potential energy to kinetic
energy and vice versa

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1.4 Basic Concepts of Vibration

Degree of Freedom (d.o.f.) =
min. no. of independent coordinates required
to determine completely the positions of all
parts of a system at any instant of time
Examples of single degree-of-freedom
systems:

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1.4 Basic Concepts of Vibration

Examples of single degree-of-freedom
systems:

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1.4 Basic Concepts of Vibration

Examples of Two degree-of-freedom systems:

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1.4 Basic Concepts of Vibration

Examples of Three degree of freedom systems:

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1.4 Basic Concepts of Vibration

Example of Infinite-number-of-degrees-offreedom system:

Infinite number of degrees of freedom system

are termed continuous or distributed systems
Finite number of degrees of freedom are
termed discrete or lumped parameter systems
More accurate results obtained by increasing
number of degrees of freedom
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1.5 Classification of Vibration

Free Vibration:
A system is left to vibrate on its own after an
initial disturbance and no external force acts on
the system. E.g. simple pendulum
Forced Vibration:
A system that is subjected to a repeating
external force. E.g. oscillation arises from diesel
engines
Resonance occurs when the frequency of the
external force coincides with one of the
natural frequencies of the system
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1.5 Classification of Vibration

Undamped Vibration:
When no energy is lost or dissipated in friction
or other resistance during oscillations
Damped Vibration:
When any energy is lost or dissipated in
friction or other resistance during oscillations
Linear Vibration:
When all basic components of a vibratory
system, i.e. the spring, the mass and the
damper behave linearly
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1.6 Vibration Analysis Procedure

Step 1: Mathematical Modeling
Step 2: Derivation of Governing Equations
Step 3: Solution of the Governing Equations
Step 4: Interpretation of the Results

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1.6 Vibration Analysis Procedure

Example of the modeling of a forging hammer:

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Example 1.1
Mathematical Model of a Motorcycle

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1.8

Mass or Inertia Elements

Using mathematical model to represent the

actual vibrating system
E.g. In figure below, the mass and damping
of the beam can be disregarded; the system
can thus be modeled as a spring-mass
system as shown.

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1.9

Damping Elements

Viscous Damping:
Damping force is proportional to the velocity of
the vibrating body in a fluid medium such as air,
water, gas, and oil.
Coulomb or Dry Friction Damping:
Damping force is constant in magnitude but
opposite in direction to that of the motion of the
vibrating body between dry surfaces
Material or Solid or Hysteretic Damping:
Energy is absorbed or dissipated by material
during deformation due to friction between
internal planes
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Example 1.10
Equivalent Spring and Damping
Constants of a Machine Tool Support

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Example 1.10 Solution

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Example 1.10 Solution

F k x;

i 1,2,3,4

F c x ;

i 1,2,3,4

si

di

(E.1)

Let the total forces acting on all the springs and all
the dampers be Fs and Fd, respectively (see Fig.
1.37d). The force equilibrium equations can thus
be expressed as

F F F F F
s

s1

s2

s3

s4

F F F F F
d

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d1

d2

d3

d4

(E.2)
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Example 1.10 Solution

where Fs + Fd = W, with W denoting the total
vertical force (including the inertia force) acting on
the milling machine. From Fig. 1.37(d), we have

F k x
s

eq

F c x
d

(E.3)

eq

Equation (E.2) along with Eqs. (E.1) and (E.3),

yield

k k k k k 4k
eq

c c c c c 4c
eq

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(E.4)
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1.7 Spring Elements

Linear spring is a type of mechanical link that is
generally assumed to have negligible mass and
damping
Spring force is given by:
F kx

1.1

F = spring force,
k = spring stiffness or spring constant, and
x = deformation (displacement of one end
with respect to the other)
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1.7 Spring Elements

Work done (U) in deforming a spring or the
strain (potential) energy is given by:
1 2
U kx
2

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1.2

32

1.7 Spring Elements

Static deflection of a beam at the free end is
given by:
Wl 3
1 .6
st
3EI
W = mg is the weight of the mass m,
E = Youngs Modulus, and
I = moment of inertia of cross-section of beam

Spring Constant is given by:

W 3EI
k

l
3

1 .7

st

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1.7 Spring Elements

Combination of Springs:
1) Springs in parallel if we have n spring
constants k1, k2, , kn in parallel, then the
equivalent spring constant keq is:

keq k1 k2 ... kn

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1.11

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1.7 Spring Elements

Combination of Springs:
2) Springs in series if we
have n spring constants k1,
k2, , kn in series, then the
equivalent spring constant
keq is:

1 1 1
1
...
k
k k
k
eq

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1.17

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1.10 Harmonic Motion

Periodic Motion: motion repeated after equal
intervals of time
Harmonic Motion: simplest type of periodic
motion
1.30
x A sin A sin t
Displacement (x): (on horizontal axis)
Velocity:

dx
A cos t
dt

Acceleration:
d 2x
2
2

A
sin

x
2
dt
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1.31

1.32
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1.10 Harmonic Motion

Complex number representation of harmonic
motion:
1.35
X a ib
where i = (1) and a and b denote the real and
imaginary x and y components of X,
respectively.

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1.10 Harmonic Motion

Definitions of Terminology:
Amplitude (A) is the maximum displacement
of a vibrating body from its equilibrium
position
Period of oscillation (T) is time taken to
complete one cycle of motion
2
1.59
T

Frequency of oscillation (f) is the no. of

1
cycles per unit time
1.60
f
T 2
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1.10 Harmonic Motion

Definitions of Terminology:
Natural frequency is the frequency which a
system oscillates without external forces
Phase angle () is the angular difference
between two synchronous harmonic motions
1.61
x1 A1 sin t
x2 A2 sin t

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1.62

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