KIG3003

Mechanics of Machines and

Vibration

prepared by
Dr. Siow Pei Yi
VL-4, Level 5, Engineering Tower
siowpeiyi@[Link]
Course Learning Outcomes
• Explain the concepts of vibration in undamped and damped systems
• Analyse free/forced vibration problems in Mechanical Engineering
• Apply analytical methods in vibration problems
• Determine the relationship between theory and practice in vibration problem
Scope
• 1-DOF, 2-DOF, M-DOF
• Undamped and Damped systems
• Free and Forced vibrations (harmonic, periodic, non-periodic)
Main Reference
• Mechanical Vibrations (6th Edition), Singiresu S. Rao, Pearson, 2017

CONTACT:
Mr. Ted Tan 012-277 8852
Distribution of Marks

Items Distribution (%)

(1) Continuous Assessment (AL, CL) 40
(2) Final Exam 60
Week Topic Week Topic

Vibration under general forcing conditions:

1 Fundamentals of Vibration 8
Periodic force

Vibration under general forcing conditions:

2 Free Vibration of 1-DOF systems: Undamped 9
Non-Periodic force

3 Free Vibration of 1-DOF systems: Damped 10 Laplace transform

Characteristics roots and corresponding 2-DOF systems: Free & Forced vibration of
4 11
solutions undamped systems

Forced Vibration (Harmonic): Undamped and 2-DOF systems: Coordinate coupling & principal
5 12
Damped coordinates

Forced Vibration (Harmonic): Base Excitation

6 13 M-DOF systems: EOM in matrix form
and Rotating Unbalance

M-DOF systems: Modal analysis of forced

7 Frequency Transfer Functions 14
vibration
Fundamentals of Vibration
Introduction
• Vibration is any repetitive/oscillating motion after an interval
of time

• 3 elements of mechanical vibration:

• Mass/inertia
• Stiffness
• Damping

• Fields of application
• Civil Engineering – Structural dynamics, earthquake engineering,
etc.
• Mechanical Engineering – Vibration control (minimize vibrations),
comfort in vehicles, vibration testing, etc.
Impacts of Vibration
• White fingers
• Motion sickness
• Structural fatigue -> Failure
• Noise

• Energy harvesting
• Cleaning
• Music
Applications of Vibration
• Electronics
• Industrial production
• Automotive, aerospace industries
• Structural dynamics
• Fatigue analysis
• Structural health monitoring/ vibration monitoring
• Digital Twin for structural health monitoring
 Design issues -> Structure/System’s natural

Why study vibration? frequencies and mode shapes

• To avoid resonance issue -> risk on public safety

• To reduce machinery vibrations -> can lead to noise and machine failures -> high maintenance costs
Basic Concepts
• Degrees of Freedom (DOFs)
• Discrete and continuous systems
• Free and forced vibration
• Undamped and damped system
• Linear and non-linear vibration
• Deterministic and non-deterministic vibration
Degrees of Freedom (DOF)
• Minimum number of independent coordinate required to
determine completely the positions of all parts of a system at
any instant of time
Discrete & Continuous Systems
Discrete/Lumped parameter systems
• 1-DOF, 2-DOF, …, -> Finite number of DOFs
• E.g., Rigid body vibration, automobile suspension system

Continuous/Distributed systems
• Elastic members that have infinite number of DOFs
• Deformable members
• E.g., Elastic body vibration
Free & Forced Vibration
Free vibration
• System is given an initial disturbance (e.g., initial displacement)
to vibrate without external force. The vibration of the system is
free vibration.

Forced vibration
• System is subjected to an external force to vibrate. The
vibration of the system is forced vibration
Undamped & Damped Vibrations
Undamped
• No energy is lost/dissipated in friction/resistance during
oscillation

Damped
• Energy is dissipated from the system, motion gradually
decreases
• E.g., Door with damper, vehicle suspension, most cases
Linear & Non-Linear Vibration
Linear Vibration
• System behaving linearly
• Principle of superposition holds

Non-Linear Vibration
• Any basic components (mass, spring, or damper) behave
nonlinearly
• Does not hold the principle of superposition
Deterministic & Non-Deterministic Vibrations
Deterministic vibration
• Magnitude of the excitation is known at any given time
• E.g., Running/In-operating motor

Non-Deterministic vibration
• Random excitation
• E.g., Road traffic, wind
Vibration Analysis
Methods:
• Analytical
• Numerical (Finite Element Method)
• Experimental (Modal Analysis, Operational Deflection Shape)

General Procedure:
• Mathematical modelling
• Derivation of governing equations
• Solution of the governing equations
• Interpretation of results
 General Procedure:
• Mathematical modelling
Vibration Analysis • Derivation of governing equations
• Solution of the governing equations
• Interpretation of results
Elementary Parts of Vibration Systems
• Mass or inertia
• Springs
• Damping
Mass, 𝑚 / Inertia, 𝐽
• Mass or inertia element is assumed to be a rigid
body – Newton’s 2nd Law of Motion: F = ma

• Usually associated with the vibrating object of

interest
Combination of Masses
• Combine masses to simplify the analysis
Spring (Stiffness/Spring Constant), 𝑘
• A spring is a mechanical link, often assumed to have
negligible mass and damping
• Linear spring and non-linear spring
Stiffness/Spring constant, k
• Any deformable member can be
considered as a spring. E.g., Beam, rod,
hollow shafts, .etc.
Equivalent Stiffness, 𝑘𝑒𝑞
Springs in Series: Springs in Parallel:
Damping, 𝑐
 Harmonic Motion – Common Terms

• Amplitude, A: Max displacement of a vibrating body from its equilibrium

position (m)

• Period, T: time taken to complete one cycle of motion (s)

• Frequency, f: number of cycles per unit time (Hz)

• Natural Frequency, 𝜔𝑛 : frequency in which a system oscillates without

external forces

• Phase angle, ∅: is the angular difference between two synchronous harmonic

motions
Summary
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