Mechanical

Vibration
Prepared By
Dr. Mahmoud Hamed
Course Syllabus

Chapter 2: Free Chapter 3: Free

Chapter 1:
undamped damped vibrations
Fundamentals of
vibrations analysis analysis of a SDOF
Vibrations
of a SDOF system system

Chapter 5:
Chapter 4: Forced
Vibration Analysis
vibrations analysis
of two degree of
of a SDOF system
freedom systems
Grading and Evaluation System
Assessment Weight
Student Assessment
Grades %
Attendance and lecture notes 10 10%
Semester Course

Mid-term (Week 7,8) 20 20%

Written Exams
Work

Quizzes 15 15%
Assignments 15 15%
Total 60 60%
Final Exam (end of the term) 40 40%
Total 100 100%
CHAPTER ONE
Fundamentals of Vibrations
What are Vibrations?
When body particles are displaced by the application
of external force, the internal forces in the form of
elastic energy are present in the body. These forces
try to bring the body to its original position. At
equilibrium position, the entire elastic energy is
converted into kinetic energy and the body continue
to move in the opposite direction and the process
repeats.
What are Vibrations?

Vibrations are fluctuations of a

mechanical system about an
equilibrium position.
What are Vibrations?

Vibrations are initiated when an inertia element is displaced from its equilibrium
position due to an energy imparted to the system through an external source. A
restoring force or moment pulls the element back to equilibrium
 What are
Vibrations?
Reasons of vibrations
There are several reasons of vibration. Among these reasons:

Unbalanced forces in the machine (forces produced within the machine)

Dry friction between two mating surfaces (this produces self-excited vibration).

External excitation (may be periodic, random, etc.).

Wind: It may cause vibration of transmission lines.

Earthquakes: responsible for failure of buildings, bridges, and dams.

 Reduce vibration through proper design of machines,
Reduce engines, turbines, and their mountings.

Utilize profitably in several consumer and industrial

Utilize applications.

Importance
of the study Improve Improve the efficiency of certain machining, casting,
forging & welding processes.

of vibration
Stimulate earthquakes for geological research and
Stimulate conduct studies in design of nuclear reactors.

Vibrations can lead to excessive deflections and failure

Lead on the machines and structures.
 Basic concepts of vibration

Degree of It is number of independent coordinates

freedom required to specify completely the
configuration of the system at any instant.
(DOF):
Degree of freedom (DOF):
Single Degree of Freedom systems (SDOF)
Two Degrees of Freedom systems (2DOF)
Three Degrees
of Freedom
systems (3DOF)
Infinite numbers of Degrees of Freedom systems (Continuous systems)
 Free Vibration: Vibration of a
system because of its own elastic
property without any external
excitation forces acting on it.

Classification
of vibration
Forced Vibration: the vibrations
the system excuses under the action
of an external periodic force. The
frequency of vibration is the same
to that excitation.
 Natural frequency: frequency of free vibration of
the system. It is constant for a given system

Resonance: Vibration of a system in which the

frequency of external force is equal to the natural
frequency of the system.

Classification
of vibration

Tacoma Narrows bridge during wind-induced vibration

 Undamped and damped 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 and nonlinear vibration

Linear Vibration: When all basic

components of a vibratory system, i.e., the
spring, the mass and the damper behave
linearly.

Nonlinear Vibration: If any of the basic

components of a vibratory system, i.e., the spring,
the mass and the damper behaves nonlinearly.
Deterministic and nondeterministic vibration

Deterministic vibration: If the value or magnitude of the excitation (force or

motion) acting on a vibratory system is known at any given time.
Nondeterministic or random Vibration: When the value of the excitation at a
given time cannot be predicted.
Vibration Analysis Procedure
Vibrations induced in dynamical systems can be analyzed through the following
procedure:

Modeling of the physical system with the equivalent lumped mechanical elements.

Derivation of governing dynamic equations of motion.

Solution of the governing equations to obtain the system time response.

Analysis of the results.

 Mathematical Model of a Motorcycle

Figure shows a motorcycle with a rider.

Develop a sequence of three lumped
mechanical models of the system for
investigating vibration in the vertical
direction. Consider the elasticity of the
tires, elasticity and damping of the struts
(in the vertical direction), masses of the
wheels, and elasticity, damping, and mass
of the rider.
 Model (1)

When the equivalent values of

the mass, stiffness, and damping
of the system are used, we
obtain a single-degree of
freedom model of the
motorcycle with a rider.
Model (2)
Model (3)

When the elasticity (as spring

constant kr) and damping (as
damping constant cr) of the rider
are considered
Model (4)

By combining the spring

constants of both tires, the
masses of both wheels, and the
spring and damping constants of
both struts as single quantities
 Important Definitions

Periodic Motion: A motion which repeats itself after equal

interval of time.
Periodic Time: Time taken to complete one cycle.

Frequency: number of cycle per unit time.

Simple Harmonic Motion: A periodic motion of a particle

whose acceleration toward the mean position.

Amplitude of motion: Maximum displacement of a vibration body from mean position.

Damping: Resistance to the motion of vibrating body.

 Elements of A Vibratory System

Inertia Spring Damper

Elements Elements Elements
Spring Elements
Spring element is a flexible mechanical element
with negligible mass and damping used to absorb
shocks associated with the vibratory motion. The
most common type of spring is the helical-coil
spring used in suspensions of trucks and other
vehicles.
 Any elastic or deformable body or member, such as a
Spring Elements cable, bar, beam, shaft or plate, can be considered as a
spring.
 Any elastic or deformable body or member, such as a
Spring Elements cable, bar, beam, shaft or plate, can be considered as a
spring.
Helical
Spring
Helical Spring

It is the most common types of

springs used in dynamical systems. A
spring is said to be linear if the
elongation or reduction in length x is
related to the applied force F as

𝐹=𝑘𝑥
k : Spring stiffness or constant
x : Spring deflection

The work done (U) in deforming a spring is stored as 1

strain or potential energy in the spring, and it is given by 𝑈 = 𝑘 𝑥2
2
 Torsional springs

Torsional spring is a flexible mechanical

element which resist rotational motion
through resisting torque T and storing
strain energy U.

𝑇 = 𝑘𝑇 θ

1
𝑈 = 𝑘 𝑇 θ2
2
Linear and
Nonlinear
Spring
Combination of spring elements
In many practical applications, several linear springs are used in
combination. These springs can be combined into a single equivalent
spring.

Springs in Springs in
Parallel Series
 Springs in Parallel
When a load W is applied, the system undergoes a static deflection δst.

𝑊 = 𝑘1 δ𝑠𝑡 + 𝑘2 δ𝑠𝑡

𝑊 = 𝑘𝑒𝑞 δ𝑠𝑡

𝑘𝑒𝑞 = 𝑘1 + 𝑘2

In general, if we have n springs in parallel, then

the equivalent spring constant can be obtained:

𝑘𝑒𝑞 = 𝑘1 + 𝑘2 +…… + 𝑘𝑛
Springs in Series

Under the action of a load W, springs 1

and 2 undergo δ1, δ2 elongations and
respectively. The total elongation (or static
deflection) of the system, δst

δ𝑠𝑡 = δ1 + δ2
𝑊 = 𝑘1 δ1 𝑊 = 𝑘2 δ2 𝑊 = 𝑘𝑒𝑞 δ𝑠𝑡
𝑘𝑒𝑞 δ𝑠𝑡 𝑘𝑒𝑞 δ𝑠𝑡 𝑘𝑒𝑞 δ𝑠𝑡 𝑘𝑒𝑞 δ𝑠𝑡
δ1 = δ2 = δ𝑠𝑡 = +
𝑘1 𝑘2 𝑘1 𝑘2

1 1 1
= +
𝑘𝑒𝑞 𝑘1 𝑘2
Example

Determine the
equivalent spring
constant of the system
3
𝑘𝑒𝑞 = 𝑘
5
Example

Consider a system of two springs,

with stiffnesses k1, k2 and arranged
in parallel as shown. The rigid bar
to which the two springs are
connected remains horizontal when
the force F is zero. Determine the
equivalent spring constant (ke) of
the system that relates the force
applied (F) to the resulting
displacement (x).
Example: Equivalent k of a Rigid Bar Connected by Springs
Equivalent springs Any elastic or deformable member (or
element) can be considered as a spring. The
for different equivalent spring constants of simple elastic
members such as rods, beams, and hollow

structural elements shafts can be calculated.

Spring Constant
of a Rod
The equivalent spring
constant of a uniform rod of
length l, cross-sectional area
A, and Young’s modulus E
subjected to an axial tensile
(or compressive) force F.
 Spring
Constant of a
Cantilever
Beam
Spring Constant of a Cantilever Beam

𝑊 3𝐸𝐼
𝐾= = 3
δ 𝑙
Example: Equivalent k of Hoisting Drum
Example:
Equivalent k
of a Crane
The boom AB of the crane
shown is a uniform steel bar of
length 10 m and area of cross
section 2500 mm2. A weight W
is suspended while the crane is
stationary. The cable CDEBF is
made of steel and has a cross-
sectional area of 100 mm2.
Neglecting the effect of the
cable CDEB, find the equivalent
spring constant of the system in
the vertical direction.
Example:
Equivalent k
of a Crane
Example: Spring
Constant
Associated with
Restoring Force
due to Gravity
Mass or Inertia
Elements
Pure
Translational
Motion
Applying Newton’s second law
of motion:

𝑚 𝑥 .. = 𝑓(𝑡)

The energy of the mass is

stored in the form of kinetic
energy (KE):

1
𝐾. 𝐸 = 𝑚 𝑥 .2
2
Pure rotation
motion
Applying Newton’s second law
of motion:

𝐼 θ.. = 𝑇(𝑡)

The energy of the mass is

stored in the form of kinetic
energy (KE):

1 .2
𝐾. 𝐸 = 𝐼θ
2
Translational
Masses Connected • Determine the equivalent mass of the system

by a Rigid Bar
Translational and Rotational Masses Coupled Together
Equivalent Mass of a System

Find the equivalent mass of the

system shown in, where the
rigid link 1 is attached to the
pulley and rotates with it.
 Cam-
Follower
Mechanism
Cam-Follower Mechanism