Chapter 1
Fundamental of Vibrations
Dr.-Ing. Azmi Mohamed Yusof
Faculty of Mechanical Engineering
Content
Learning outcome
Basic concept of vibration
Classification of vibrations
Spring element
Simple harmonics motion
Harmonic analysis (Fourier series)
Review problems
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1.0 Learning outcome
At the end of this chapter, student should be able to state and apply
the fundamental principle of vibration involving:-
basic terminology and classifications of vibration
Hooke’s law and spring element
simple harmonic motion and harmonic analysis
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Introduction
Vibration or oscillation
any motion that repeat itself after an interval of time
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Introduction
Consider a pendulum
Let the bob has mass m, and give
displacement of and let it swing
When it travels to point 1:
Reaching maximum amplitude
K.E = 0, v = 0
P.E = mgl(1 - cos) [maximum]
The characteristic motion of the
pendulum: Harmonic, sinusoidal
Vibration of an industrial machinery
Vibration of a simple pendulum
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Introduction
Machine vibration
What is Machine
Vibration?
Almost all machine
vibration is due to
one or more of
these causes:
(a) Repeating
forces
(b) Looseness
(c) Resonance
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Degree of freedom [DOF]
DOF = min. number of independent coordinates required to
specify completely the positions of a dynamic systems.
Simple pendulum
The motion of the bob can be described either by
using [x,y] coordinate or .
x & y are dependent on l x2 + y2 = l2
Thus, only is the independent coordinate
This is a 1 DOF system
Slider crank spring mechanism
The motion of the slider can be described either by
using x coordinate or .
Thus, x or is the independent coordinate
This is a 1 DOF system
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Degree of freedom [DOF]
Degrees of freedom
for the upper body of
the motion capture
skeleton (left) and the
robot (right). For the
human skeleton, all
joints are three degree
of freedom ball joints
except the ROOT
(6DOF), the elbows L
EB and R EB (1DOF
each), and the
clavicles L CLV and R
CLV (2DOF each)
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Degree of freedom [DOF]
Example 1
Spring-mass system
The motion can be described by using x
coordinate.
This is a 1 DOF system
Torsional system
The motion of the mass can be described by
using as coordinate.
This is a 1 DOF system
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Degree of freedom [DOF]
2 DOF systems 3 DOF systems
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Tutorial 1
Specify the generalized coordinate and state the number of DOF for the
systems shown below
a) b)
Generalized coordinates :________________ Generalized coordinates :________________
_____________________________________ _____________________________________
_____________________________________ _____________________________________
Degree of freedom : ____________________ Degree of freedom : ____________________
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Tutorial 1
c) d)
Generalized coordinates :________________ Generalized coordinates :________________
_____________________________________ _____________________________________
_____________________________________ _____________________________________
Degree of freedom : ____________________ Degree of freedom : ____________________
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Tutorial 1
e) f)
Generalized coordinates :________________ Generalized coordinates :________________
_____________________________________ _____________________________________
_____________________________________ _____________________________________
Degree of freedom : ____________________ Degree of freedom : ____________________
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3.0 Classification of vibrations
Discrete & continuous systems
Discrete / lumped parameter systems
Systems with finite number of DOF
Linear vibrating system
E.g. pendulum, torsional system, spring system
Covered in chapter 1 until chapter 4
Continuous / distributed systems
Systems with infinite number of DOF
Non-linear vibrating system
E.g. deflection of beam, elastic members
(deformable)
Covered in chapter 5.
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3.0 Classification of vibrations
Classification of vibrations
Free & forced vibration
Free vibration: Give initial disturbance for the system
and left it to vibrate on its own
Forced vibration: The system vibrates by subjecting
to an external force continuously
Free - damped
Undamped & damped vibration Free - undamped vibration
vibration
Undamped vibration – no energy loss/dissipated
Damped vibration – involve friction/lost in energy
Linear & non-linear vibration
Linear - Influenced by the characteristic of
individual element e.g the spring, Deterministic vibration
Non-linear - mass & the damper
Deterministic & Random vibration
Deterministic – Amplitude of excitation is predictable
Random – the value of excitation at a given timeForce - damped
cannot be predicted Random vibration
vibration
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4.0 Spring Element
Springs
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4.0 Spring Element
Spring element, k
A coil spring (fig.(a)) has free length, ℓ
When the spring is stretched (or compressed), it
will elongate
A restoring force will exert that opposes the
direction of applied force
For the applied force F, the linear force-
deflection model for a spring is given by
where x is the spring constant
The work done in deforming a spring is stored as
potential energy
1
2
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4.0 Spring Element
Modeling of spring constant of a rod
(Longitudinal vibration)
Consider a uniform rod of length l, cross
sectional area A, and Young’s modulus E
subjected to an axial force F.
Recall from mechanics of materials
knowledge,
ℓ
the elongation
the strain ℓ
the stress
ℓ
Combining these eqn.,
From the definition of k, ℓ
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4.0 Spring Element
Example (lateral vibration)
Find the equivalent spring constant of a cantilever beam subjected to a
concentrated load F at its end as shown in the figure below
Solution
Consider a small section of the beam with length x (measured from the tip end)
The moment is given by
The equation of elastic curve is given by
Substitute the moment term, we obtain
Integrate the equation, we obtain
Apply the initial condition, at , 0, thus we have C
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4.0 Spring Element
The equation now becomes
Integrate the equation again, yield
Apply another initial condition, , 0 & substitute into the above eqn.
We obtain
Finally we have,
The deflection can be obtained when 0
Thus
From the stiffness formula k
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4.0 Spring Element
Springs in series and parallel (finding the
equivalent spring constant)
Spring in parallel
∑ 0:
Thus for parallel springs arrangement,
...
Spring in series
The total elongation,
,
We have,
Thus for series springs arrangement,
1 1 1
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Tutorial 2
Exercise
The motor is attached to a flexible beam of stiffness kb as shown in
figure below. Find the equivalent stiffness of the system if kb = 200 N/m
and ks = 1000 N/m. [Ans : 181.82 / ]
ks ks
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Tutorial 2
Obtain the total stiffness of the system below
a)
Ans:
b)
Ans: 4.69 10 /
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5.0 Simple Harmonic Motion
Basic idea
SHM is the simplest form of periodic motion
Periodic motion = any motion that repeats in equal
interval of time
The position of pendulum can be described as
sin
The velocity of the mass m is
.
The acceleration of the mass m is
.
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5.0 Simple Harmonic Motion
The vector OP have both
horizontal and vertical
components, and it can be
represented using complex-
number notation
or
cos sin
with and
tan
On the other hand OP can
also be represented in
exponential form as
cos sin
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5.0 Simple Harmonic Motion
Example 1
A simple harmonic motion has an amplitude of 0.30 cm and a period of
0.20 sec. Determine the maximum velocity and acceleration.
Solution
Given: 0.30 10 , 0.2 ; 31.42 /
.
0.30 10 31.42 0.094 /
0.30 10 31.42 2.96 /
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5.0 Simple Harmonic Motion
Example 2
A harmonic motion has a frequency of 15 cycles/sec. and its maximum
velocity is 5 m/s. Determine its amplitude, period and maximum
acceleration.
Solution
.
Given: 15 ; 5 /
; 0.053
.
0.067
.
5 94.26 471.3 /
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6.0 Harmonic analysis (Fourier Series)
Fourier Series
Many vibration systems are not harmonic but periodic
Harmonic function Periodic function
How to transform a periodic vibration system into harmonic components?
Any periodic function can be represented by its Fourier series
Fourier series contain infinite number of sine and cosine terms
The periodic function can be represented as the Fourier series
The periodic function x(t) is given by
2 ⋯ 2 ⋯
2 2
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6.0 Harmonic analysis (Fourier Series)
cos sin
2
The constant coefficients a and b can be
determined from
. cos .
. .
Any periodic function can be represented as a
sum of harmonic functions
See figure. We can approximate the actual
function by adding only three harmonic
functions
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6.0 Harmonic analysis (Fourier Series)
Adding several harmonic function (n) to approximate the actual function
creates an anomalous behavior.
Increasing n, seems improving the approximation to the actual function
(see figure)
But it creates variation in amplitude (Error)
Gibb’s phenomenon the error in amplitude remains at 9% even n
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6.0 Harmonic analysis (Fourier Series)
Example
Obtain the Fourier series for periodic signal shown
1
-2 - 0 2 t(s)
Solution
1 , 0
The function for the graph:
0
, 0
The period of the cycle : 2 s, thus 2 1
1 . 0 . 1.
. cos . 1 . cos . 0 sin 0.
. . 1 . . 0 1 cos .
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6.0 Harmonic analysis (Fourier Series)
1 cos 1 1
∑ cos sin
∑ 1 1 . sin
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7.0 End chapter problems
1. Determine the number of DOF for the following 2. Determine the expression for the equivalent
systems which are in equilibrium position. State spring constant for the systems shown in the
the generalized coordinate for each case. figure below
2m
k
k E = 210 X 109 N/m2
I = 3.8 X 10-5 m4
m m 100kg
k
Ans : 1.5 X 106 N/m
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7.0 End chapter problems
3. A harmonic motion is given by x(t) = 10 sin(30t - Answer
π/3). Determine a) frequency and period of
motion, b) maximum displacement, velocity and
acceleration. 2. (a) 1.11k, (b) 1.5 X 106 N/m (c) 4k
4. Determine the maximum velocity and maximum 3. (a) 30 rad/s {4.77 Hz}, 0.21s (b) 10mm,
acceleration of a particle which moves in simple 300mm/s2, 900 mm/s2
harmonic motion with an amplitude of 3 mm and
a frequency of 20 Hz. 4. 0.377m/s, 47.3m/s2
5. The displacement of a vibrating body is given by 5. -4.45
5 sin(31.41t + π/4). Determine the displacement
of the body after 0.11 second.
6. 1.225 m/s, 0.650 Hz
6. A particle moves in simple harmonic motion.
Knowing that the amplitude is 300 mm and the
maximum acceleration is 5 m/s2, determine the
maximum velocity of the particle and the
frequency of its motion.
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