Mechanical Vibrations (16 ME 72)

UNIT 1
Introduction to Undamped free systems
Damped free vibrations: Single degree freedom systems,
different types of damping, concept of critical damping and
its importance, study of response of viscous damped
systems for cases of under damping, critical and over
damping, logarithmic decrement.

Dr P R Venkatesh, MEch Dept, RVCE,Bengaluru-59

 UNIT 2
Forced Vibration with harmonic excitation:
Single degree freedom systems, Steady state solution with viscous
damping due to harmonic force, solution and response. Forced
Vibration with rotating unbalance and base excitation: Single degree
freedom systems, reciprocating and rotating imbalance,
whirling of shafts without air damping, discussion on speeds above
and below critical speeds.
Transmissibility and Seismic Instruments:
Vibration isolation, transmissibility ratio, base excitation.
Accelerometer and vibrometer.
Dr P R Venkatesh, MEch Dept, RVCE,Bengaluru-59
 UNIT 3
Systems with two degrees of freedom:
Introduction, principal modes and normal modes of vibration, co-
ordinate coupling, generalized and principal co-ordinates.
Numerical methods for Multi degree Freedom systems:
Introduction, influence coefficients, Maxwell reciprocal theorem,
Dunkerley’s equation, method of matrix iteration, method of
determination of all the natural frequencies using sweeping matrix
and orthogonality principle. Modal analysis, Holzer’s method and
Stodola’s method.

Dr P R Venkatesh, MEch Dept, RVCE,Bengaluru-59

 UNIT 4
Continuous Vibrations
Introduction, Lateral vibrations of the strings, Torsional Vibrations of
uniform shaft, Longitudinal Vibrations of the bars, Transverse
vibrations of beams, Effects of shear deformation and rotary inertia.
UNIT 4
Non Linear Vibrations
Introduction, Difference between linear and Non linear vibrations,
Applications of superposition principle, Examples of non linear
systems like Hard and Soft spring, belt friction system, Variable
mass system, Abrupt non linearity, Phase plane method, Duffing’s
equation. Dr P R Venkatesh, MEch Dept, RVCE,Bengaluru-59
 Mechanical Vibrations (16 ME 72)
Reference books
1. William T. Thomson, Theory of Vibration with applications,
Pearson Education Inc. 5th Edition, 2003.
2. S. Graham Kelly, Fundamentals of Mechanical Vibration, Tata
McGraw Hill, 2000.
3. G.K. Grover, Mechanical Vibrations (S. I. units) 1996 ,Nem Chand
and Bros. ISBN 8185240558 (ISBN13: 9788185240558)
4. V. P. Singh, Mechanical Vibrations Dhanpat rai & Co Pvt Ltd
2014
5. J B K Dhas & P L S Murthy, Mechanical Vibrations Sapna
publishers 2013, ISBN 9788128003714

Dr P R Venkatesh, MEch Dept, RVCE,Bengaluru-59

 Mechanical Vibrations

A body is said to vibrate if it has a ‘To’ & ‘Fro’ motion.

Usually Vibrations are due to elastic forces. Whenever a body
is displaced from its equilibrium position, work is done on
the body and is stored as ‘Elastic strain energy’.
Now, if the body is released, the internal forces cause the
body to move towards its equilibrium position.
If the motion is frictionless, the strain energy stored in the
body is converted into ‘kinetic energy’ which will attain
maximum value by the time the body reaches the
equilibrium position.
Dr P R Venkatesh, MEch Dept, RVCE,Bengaluru-59
 As the body passes through the mean position,
the kinetic energy is utilized to overcome the
elastic forces and is stored as strain energy and so
on.
In this way vibratory motion is repeated at
regular intervals of time.
Examples of vibratory motion:
Spring mass system, Pendulum, Machines mounted on
unsound foundations, Musical instruments, etc.
Dr P R Venkatesh, MEch Dept, RVCE,Bengaluru-59
 Causes of vibrations
1. Unbalance centrifugal forces in the machine caused due to non
uniform material distribution in a rotating machine element.

2. Dry friction due to surfaces in relative motion, which produces

self excited vibrations.

3. External excitations (which may be periodic or random) applied

on the system.

4. Earth quakes, which may lead to failure of buildings, dams, etc.

5. Winds, which cause the vibration of transmission & telephone

lines.
Dr P R Venkatesh, MEch Dept, RVCE,Bengaluru-59
• The effect of vibrations are excessive stresses, undesirable noise,
looseness of part and partial or complete failure.
• Vibrations in most cases are undesirable, but in some applications
it is desirable & useful. Some such cases are Musical instruments,
Vibrating screens, Shakers, Stress relieving, etc.
The undesirable vibrations can be eliminated or reduced to certain
extent by the following methods;
• Removing external excitation, if possible.
• Placing machinery on proper type of isolators.
• Using shock isolators.
• Dynamic vibration absorbers
Dr P R Venkatesh, MEch Dept, RVCE,Bengaluru-59
 Definitions
Periodic Motion: A motion which repeats itself at
regular intervals of time.

Time period: Time taken to complete one cycle.

Frequency: Number of cycles per unit time.

Amplitude: The maximum displacement of a

vibrating body from its equilibrium position.

Dr P R Venkatesh, MEch Dept, RVCE,Bengaluru-59

 Mechanical Vibrations
• Natural frequency: When no external force acts on
the system after giving it an initial displacement, the
body is said to undergo ‘Free Vibrations’. The
frequency of such vibrations is called ‘Natural
frequency’ expressed in rad/sec or cycles/sec (Hz).

• Fundamental mode of vibration: The fundamental

mode of vibration is the mode having lowest natural
frequency.
Dr P R Venkatesh, MEch Dept, RVCE,Bengaluru-59
 Mechanical Vibrations
Degrees of Freedom: The minimum number of
independent co ordinates required to specify the
motion of a system at any instant is known as
degrees of freedom of the system.

In general it is equal to the number of

independent displacements that are possible.
This number varies from zero to infinity.

Dr P R Venkatesh, MEch Dept, RVCE,Bengaluru-59

 A mass supported by a spring and constrained
to move in one direction without rotation is an
example of a single dof system.
X
Spring Mass System

A simple pendulum oscillating in one plane is

also a single degree of freedom system.


Simple pendulum
Dr P R Venkatesh, MEch Dept, RVCE,Bengaluru-59
 

Crank slider mechanism

A crank slider mechanism is also a single degree of

system since only the crank angle is sufficient to
define the system completely.

Dr P R Venkatesh, MEch Dept, RVCE,Bengaluru-59

 
X

x1

x2

On the other hand, a spring supported rigid mass which can move
in the direction of the spring & can also have angular motion has
two degrees of freedom.
A two-mass, two-spring system constrained to move in one
direction without rotation has also two d.o.f.
Dr P R Venkatesh, MEch Dept, RVCE,Bengaluru-59
A flexible beam between two supports has an infinite
number of degrees of freedom.
Simple harmonic motion (SHM)
• The motion of a body to & fro about a fixed point is
called ‘Simple harmonic motion’.

• The motion is periodic and its acceleration is always

directed towards the mean position & proportional to its
distance from the meanMEchposition.
Dr P R Venkatesh, Dept, RVCE,Bengaluru-59
Simple harmonic motion (SHM)

Dr P R Venkatesh, MEch Dept, RVCE,Bengaluru-59

 Simple harmonic motion (SHM)

Simple Pendulum Spring-Mass System

Dr P R Venkatesh, MEch Dept, RVCE,Bengaluru-59
Damped vibrations: When the energy of a vibrating
system is gradually dissipated by friction and other
resistances, the vibrations are said to be damped.
The system restores its equilibrium with passage of
time.

Forced Vibrations: When a repeated force acts on the

system at regular intervals of time, the system is
forced to vibrate with the frequency of the external
force. Such vibrations are called ‘Forced vibrations’.
Dr P R Venkatesh, MEch Dept, RVCE,Bengaluru-59
Resonance: When the frequency of external
excitation (force) becomes equal to the natural
frequency of the vibrating system, a state of
resonance is said to have been reached.

Resonance results in large amplitudes of vibrations

and must be avoided.

Dr P R Venkatesh, MEch Dept, RVCE,Bengaluru-59

Continuous & Discrete systems:
Most mechanical systems (consisting of mass,
stiffness & damping) have infinite degrees of
freedom. Such systems are called ‘continuous’ or
‘distributed’ systems.
Ex: Cantilever, Simply supported beam, etc.

Systems with finite degrees of freedom are called

‘Discrete’ or ‘lumped’ systems.
Dr P R Venkatesh, MEch Dept, RVCE,Bengaluru-59
 Types of Vibration
Some of the important types of vibration are as follows:
1)Free & Forced Vibrations: When no external force acts on
the body after giving it an initial displacement, it is said to be
free vibration.
Ex: Oscillation of a simple pendulum, Spring mass system
When the body vibrates under the influence of external force
then the body is said to be under forced vibration.
Ex: Machine tools, electric bells, etc.

Dr P R Venkatesh, MEch Dept, RVCE,Bengaluru-59

 2) Linear & Non linear vibrations:
If in a vibrating system, the mass, spring & damper behave
in a linear manner, the vibrations are known as linear in
nature. Such vibrations are governed by linear differential
equations & follow principle of superposition.

Mathematically, if a1 is the solution of the eqn mx  cx  kx  F1 (t )

and a2 is the solution of the equation mx  cx  kx  F2 (t ),

Then, (a1  a2 ) is the solution of the eqn mx  cx  kx  F1 (t )  F2 (t ).

Dr P R Venkatesh, MEch Dept, RVCE,Bengaluru-59

3) Damped and Undamped Vibrations:
If the vibratory system has a damper, it opposes the
motion of the system and the energy of the system will be
dissipated in friction. This type of vibration is known as
damped vibration.

On the contrary, the system having no damper is known as

undamped vibration.

Dr P R Venkatesh, MEch Dept, RVCE,Bengaluru-59

3) Deterministic and Random Vibrations:
If in a vibrating system, the amount of external excitation
is known in magnitude, it causes deterministic vibrations.

If the magnitude of external excitation is unknown, but

the averages and deviations are known, it is said to cause
Random vibrations.

Dr P R Venkatesh, MEch Dept, RVCE,Bengaluru-59

4) Longitudinal, Transverse & Torsional Vibrations:
When the particles of the elastic shaft or disc moves
parallel to the axis of the shaft, it is said to execute
longitudinal vibrations.

Dr P R Venkatesh, MEch Dept, RVCE,Bengaluru-59

When the particles of the elastic shaft or disc moves
approximately perpendicular to the axis of the shaft, it is
said to execute transverse vibrations.

m
L
L d
If the shaft gets twisted and untwisted

I
on account of vibratory motion of the
suspended disc, it is said to execute
Torsional vibrations.
 
Dr P R Venkatesh, MEch Dept, RVCE,Bengaluru-59
Dr P R Venkatesh, MEch Dept, RVCE,Bengaluru-59
Acceleration x Velocity x Ordinate

   Displacement x

t+
 
 A t
+
t
 Abscissa

2
 A

Dr P R Venkatesh, MEch Dept, RVCE,Bengaluru-59

 Numerical problems
1) The motion of a particle is x=5sin(t). Show the
displacement, velocity & acceleration vectors when (i) 0.5
rad/sec (ii) 1 rad/sec & (iii)  rad/sec.
Solution : x  5sin t.
 
Then its velocity x  5 cos(t )  5 sin  t  
 2
Acceleration x  5 2 sin(t )  5 2 sin t   
 The maximum values of displacement, velocity &
acceleration vectors are 5, 5 & 5 2 respectively.

The velocity vector leads the dispacement vector by
2
& the acceleration vector leads the dispacement vector by  .
Dr P R Venkatesh, MEch Dept, RVCE,Bengaluru-59
(i) When  = 0.5 rad / sec & t = 0 :
xmax  5 units, xmax  (5  0.5)  2.5 units & xmax  5(0.5) 2  1.25 units
(ii) When  = 1 rad / sec & t = 0 :
xmax  5 units, xmax  (5 1)  5 units & xmax  5(1) 2  5 units
(iii) When  = 2 rad / sec & t = 0 :
xmax  5 units, xmax  (5 12)  10units & xmax  5(2) 2  20 units
Velocity Velocity
Velocity
2.5
5 10

  

  
1.25 5 5 5 20 5
Acceleration Displacement Acceleration Displacement Acceleration Displacement

 0.5  .0

 1.0

Dr P R Venkatesh, MEch Dept, RVCE,Bengaluru-59

 Numerical problems
2) A harmonic motion has a frequency of 10 Hz and its
maximum velocity is 2.5 m/sec. Determine its amplitude,
period & maximum acceleration.
Given : f  10 HZ , xmax  2.5 m / sec, find A, T & xmax
Solution : Circular frequency   2 f  2 10  62.832rad / sec
1 1
Time period T=   0.1 sec
f 10
Let x  A sin t be the harmonic motion.
Then its velocity x   A cos(t )  xmax   A
i.e. 2.5=62.832  A ∴ Amplitude of motion A = 0.0398 m
Also, acceleration x   2 A sin(t )  xmax   2 A
 Maximum Acceleration xmax  (62.832) 2  0.0398  157.12m / sec 2
Dr P R Venkatesh, MEch Dept, RVCE,Bengaluru-59
 Undamped free vibrations

• When no external force acts on the body after giving it an

initial displacement, then the body is said to be under free
vibration or natural vibration.
• If there is no loss of energy due to friction or resistance
through out motion of the system, then the vibration is
called undamped free vibration.
• A vibratory system having mass & elasticity with single
degree of freedom is the simplest case to analyze.
Ex: Spring-mass system, Simple pendulum, Liquid column in a U-tube
manometer, Torsional pendulum, etc.
Dr P R Venkatesh, MEch Dept,
RVCE,Bengaluru-59
 Derivation of differential equation
Spring-mass system in vertical position

(i) Newton’s Method:

k k k


m m

• Consider a spring of stiffness ‘k’ & a mass ‘m’ system

constrained to move in a vertical direction.
• The static deflection of the spring due to weight ‘mg’ is ,

such that mg=k . Dr P R Venkatesh, MEch Dept,

RVCE,Bengaluru-59
 Derivation of differential equation Spring-mass system

..
k(x+ mx
k

m m

mg mg
Free Body diagrams

When the mass is displaced from its equilibrium position by

a distance ‘x’ & released, after a time ' t ', for equilibrium,
Inertia force + Restoring force = 0
i.e. mx  k ( x  )  mg  0. But mg  k 
 Governing equation of the system is mx + kx = 0
Dr P R Venkatesh, MEch Dept,
RVCE,Bengaluru-59
 Derivation of differential equation Spring-mass system
 Governing equation of the system is mx + kx = 0
k
Or x    x  0
m
Comparing the above equation with the equation of SHM,
k
x   x  0,  ωn =
2
n rad/sec
m
( where k is in N / m, mass m is in kg )
1 k
Frequency of vibration f n = cps or Hz
2π m
mg
Also, as stiffness k  ( Stiffness  force per unit deflection)

g 1 g
ωn = & fn = ( g  9.81 m / sec 2 ,  in m)
 2π  Dr P RRVCE,Bengaluru-59
Venkatesh, MEch Dept,
(ii) Energy Method:
k

For a conservative system, total energy remains a constant.

In other words, (Kinetic energy  Potential energy)  constant.
d 1 2
  KE  PE   0. Here, KE of the mass = mx
dt 2
PE (Resilience) of the spring  Average spring force  deformation
 0  kx  1 2
i.e. Potential energy of spring     x  kx
 MEch
Dr P R Venkatesh, 
2 Dept, 2
RVCE,Bengaluru-59
(ii) Energy Method:

d d 1 2 1 2
 KE  PE   0   mx  kx 
dt dt  2 2 
k
i.e. mxx  kxx  0 or mx + kx = 0 or x + x = 0,
m
Comparing with the equation of SHM x  n x  0,
2

k 1 k
 ωn = rad/sec & f n = cps or Hz
m 2π m

Dr P R Venkatesh, MEch Dept,

RVCE,Bengaluru-59
 (iii) Rayleigh Method:

Rayleigh's Principle assumes that the max strain energy at the extreme
position is equal to the maximum kinetic energy at the mean position.
For a simple harmonic motion, let displacement of the mass from mean
position at any time ' t' be x  A sin nt  xmax  A
Differentiating w.r.t time, Velocity x  n A cos nt  xmax  n A
1 1
 Maximum KE of the mass = mx max = mωn2 A2
2

2 2
1 2 1
Equating the energies, kA  mωn2 A2
2 2
k 1 k
 k  mωn  ωn =
2
rad/sec & f n = cps or Hz
m 2π m

Dr P R Venkatesh, MEch Dept,

RVCE,Bengaluru-59
 Solution of governing differential equation of motion

T=2n

slope = v0


A
A x0


n

• Let the vibratory motion of spring-mass system be equivalent to a

SHM of amplitude A, frequency n, phase angle .
• Let the system be given an initial displacement x0 (at t=0) & initial
velocity be v0.
Dr P R Venkatesh, MEch Dept,
RVCE,Bengaluru-59
 Solution of governing differential equation of motion
The equation of motion for free vibrations of a single dof undamped system is
mx + kx = 0 which is second order differential equation.
The general solution is x  A sin(nt   ), where A &  are the two constants
which may be determined from initial conditions for x & x at time t  0
Velocity of the vibrartory motion x   A cos(nt   )
At at time t  0, let x  x0  x0 = Asin (i )
v0
Also at time t  0, let x  v0  v0  n A cos  or = Acos (ii )
ωn
v02
Squaring & adding (i) & (ii) A= x02 
n2
x0 ω n 1  x0 ω n 
Dividing eqn (i) by (ii), tan      tan  
v0  0 
v
where  is the phase lead angle.  Phase lag   (90   )
Dr P R Venkatesh, MEch Dept,
RVCE,Bengaluru-59
 Numerical Problem 1

A body suspended from a spring vibrates vertically

up and down between two positions 3 and 5 cm
above the ground. During each second it reaches
the top position(5 cm above ground) 15 times. Find
the time period, frequency, circular frequency and
amplitude of motion.

Dr P R Venkatesh, MEch Dept,

RVCE,Bengaluru-59
 Solution to Problem 1
From the fig,
Amplitude = (5-3)/2 =1 cm.

5
f = Frequency =15 cps
T = Period = 1/15 Sec
3
Circular Frequency
 = 2  f = 2  (15) =30 
rad/sec

Dr P R Venkatesh, MEch Dept,

RVCE,Bengaluru-59
 Numerical Problem 2
A block of mass 0.05 kg is suspended from a spring of
stiffness 25 N/m. The block is displaced from its
equilibrium position through a distance of 2cm &
released with an upward velocity of 3 cm/sec.
Determine;
(i) Natural frequency & period of oscillation
(ii) Maximum velocity & acceleration
(iii) Phase angle
Dr P R Venkatesh, MEch Dept,
RVCE,Bengaluru-59
Data : m  0.05 kg , k  25 N / m, x0  2cm, v0  3cm / sec
(i) Natural fequency & Time period :
k 25
Circular frequency n    22.36 rad / sec
m 0.05
n 22.36
Frequency in Hz f n    3.56 Hz
2 2
2 1 1
Time period T=    0.28 sec
n f n 3.56
v02
(ii) Max velocity & Acceleration : Amplitude A= x02 
n2
2
3
 A= 2 
2
2
 2.0045 cm
22.36 Dr P R Venkatesh, MEch Dept,
RVCE,Bengaluru-59
 Max velocty xmax  n A  22.36  2.0045  44.82 cm / sec
Max acceleration xmax  n2 A  22.362  2.0045  1002.2 cm / sec 2
(iii) Phase angle :
 x0 ω n  1  2  22.36 
Phase angle   tan  1
  tan    86.16 0

 v0   3 
i.e. the equation of motion is x  2.0045sin(22.36t  86.160 )

Dr P R Venkatesh, MEch Dept,

RVCE,Bengaluru-59
 Numerical Problem 3
An oscillating system with a natural frequency of
3.98 Hz starts with an initial displacement of 10
mm and an initial velocity of 125 mm/sec.
Calculate all the vibratory parameters involved &
the time taken to reach the first peak.

Dr P R Venkatesh, MEch Dept,

RVCE,Bengaluru-59
Data : f n  3.98 Hz , x0  10 mm, v0  125 mm / sec
(i) Circular frequency & Time period :
22.36
Circular frequency n  2 f n  2  3.98   25 rad / sec
2
1 1
Time period T    0.251sec
f n 3.98
(ii) Amplitude of motion, Max vel & Accleration :
v02 125 2
Amplitude A= x02  2  10 2  2  11.18 mm
n 25
Max velocity xmax  n A  25 11.18  279.5 mm / sec
Max acceleration xmax  n2 A  252 11.18  6787.5 mm / sec 2

Dr P R Venkatesh, MEch Dept,

RVCE,Bengaluru-59
(iii) Phase angle & Time required to reach the first peak :
 x0 n  1  10  25 
Phase angle   tan 1
  tan    63.43 0

 v0   125 

Time required to reach the first peak 
n
     
(90   )    (90  63.43)   
  180   180   0.0185sec
n 25
T=2n

slope = v0


A
A x0


n

Dr P R Venkatesh, MEch Dept,

RVCE,Bengaluru-59
 Numerical Problem 4
An unknown mass m is attached to one end of a
spring of stiffness k having a natural frequency of 6
Hz. When 1 kg mass is attached with m, the natural
frequency is lowered by 20%. Determine the
unknown mass & stiffness k.

Dr P R Venkatesh, MEch Dept,

RVCE,Bengaluru-59
Data : f n1  6 Hz when mass attached is m kg
f n 2  0.8  6  4.8 Hz, when mass is (m + 1) kg
(i) Magnitude of unknown mass :
1 k
f n1  6  (i ) &
2 m
1 k
fn2  4.8  (ii )
2 (m  1)
62 (m  1) 1
(i )  (ii ) gives 2
  1   m = 1.778 kg
4.8 m m
(ii) Stiffness of the spring : k  mn21
But n1  2 f n1  2  6  37.7 rad/sec
 k  1.778  37.7 2 Dr P252 7 N
R Venkatesh, MEch/Dept,
RVCE,Bengaluru-59
m
 Natural frequency of Spring-mass system taking self weight of spring into account
(Effect of inertia of spring)

dy
l
k

m
x

Spring with self weight

Consider a spring of stiffness k & a mass m attached at its free end.

Let m' be the mass per unit length of the spring & l be length of spring.
Also let x & x be the displacement & velocity of mass at free end of spring.
The velocity of a spring element of length dy at a distance y from fixed end is
 y
equal to x  
l Dr P R Venkatesh, MEch Dept,
RVCE,Bengaluru-59
 Effect of inertia of spring
2
1  y
Kinetic energy of the spring element  ( m ' dy ) x 2  
y 2  l
l
dy 1 m'x 2 l
1 m'x  y 
2 3
K.E of the full spring  0 y dy  2 l 2  3 
2
l
k 2 l2 0

1 1
m  K .E of the spring = m ' lx 2  m s x 2
x 6 6
Spring with self weight
(where ms  m ' l  Mass of spring)
 K.E of the system = K.E of spring + K.E of mass
1 1
 K.E of the system  m s x 2  mx 2
6 2
1 2
Also, potential energy of spring = kx
2
1 1 1 2
 Total energy = K.E + P.E = m s x  mx  kx 2 2
Dr P R Venkatesh, MEch Dept,
RVCE,Bengaluru-59
6 2 2
 Effect of inertia of spring
d
For a conservative system, total energy =constant  Total energy   0
dt
d 1 1 1  1
i.e.  ms x 2  mx 2  kx 2   0   ms xx   mxx  kxx  0
dt  6 2 2  3
 ms  k
m  x  kx  0. Rearranging the terms, x  0
 3   ms 
m 
 3 
k 1 k
 ωn = & hence f n =
 ms  2  ms 
m+  m+ 
 3   3 
The above equation shows that the mass of spring is equivalent to
one - third of its value if atached at its free end.

Dr P R Venkatesh, MEch Dept,

RVCE,Bengaluru-59
 Equivalent stiffness of spring combinations

k1
k1 k2

k2
m

m Springs in parallel
Springs in series

Certain systems have more than one spring joined in series or

parallel or both. In such cases, it is necessary to replace these with
an equivalent spring which offers the same stiffness as that of the
combination of springs.
Dr P R Venkatesh, MEch Dept,
RVCE,Bengaluru-59
Springs in series: In this case, the springs are connected end to
end & then a mass is suspended at the free end
k1 such that;
• The same load is acting on all the springs.
k2 • The total deflection at the free end is sum of
individual spring deflections.
m

Springs in series
i.e. Defelction of equivalent spring   1   2  .
Load on spring
But deflection =
stiffness
mg mg mg
As all springs are subjected to load mg ,   
keq k1 k2
1 1 1
 = + +
keq k1 k 2
Dr P R Venkatesh, MEch Dept,
RVCE,Bengaluru-59
Springs in Parallel: In this case, the ends of all springs
are connected to mass suspended
k1 at the free end such that;
k2
• The total load is shared by the
k1
m individual springs.
m
• The deflection at the free end
k2
is same for all springs.
Springs in parallel

Total load  Load on spring 1+ Load on spring 2+

i.e. keq   k1  k2  
 Load =stiffness  deflection of spring & deflection is same 
 
 for all springs connected in parallel 
 keq  k1  k 2  Dr P R Venkatesh, MEch Dept,
RVCE,Bengaluru-59
 Numerical Problem 5
A spring mass system has a natural frequency of f1.
Calculate the value of another spring which when
connected in parallel with the first spring increases
the frequency by 30%.

Dr P R Venkatesh, MEch Dept,

RVCE,Bengaluru-59
Data : Let the f n1 when the stiffness is k1
f n 2  1.3  f n1 when stiffness is (k1  k 2 )
 Equivalent stiffness for springs connected in 
 
 parallel is sum of individual stiffness values 
1 k1
f n1  (i ) &
2 m
1 (k1  k2 )
1.3 f n1  (ii )
2 m
k2
(ii )  (i ) gives 1.3  1   k2 = 0.69 k1
2

k1
Dr P R Venkatesh, MEch Dept,
RVCE,Bengaluru-59
 Numerical Problem 6
For the spring mass system shown in fig,
determine; (i) Equivalent stiffness (ii) Natural
frequency of vibration.

k1 k2
10N/mm 10N/mm

5 N/mm

W=109 N

Dr P R Venkatesh, MEch Dept,

RVCE,Bengaluru-59
Solution :
Equivalent stiffness for springs k1 & k 2 connected in
parallel is equal to ( k1  k2 )  (10  10)  20 N / mm
Then the third spring 5 N/mm is in series with the above
1 1 1 20  5
Hence    keq   4 N / mm  4000 N / m
keq 20 5 (20  5)

1 keq g1 4000  9.81

fn    3.02 Hz
2 W 2 109

Dr P R Venkatesh, MEch Dept,

RVCE,Bengaluru-59
 Numerical Problem 7
Determine the equivalent spring stiffness & the
natural frequency of the vibrating system when a
mass of 10 kg is ;
(i) Fixed in between two springs of stiffness 5
N/mm & 8 N/mm.
(ii) Fixed between two halves of the spring of
stiffness 5 N/mm.

Dr P R Venkatesh, MEch Dept,

RVCE,Bengaluru-59
 Solution :
k1
(i) When a mass is placed in between two springs,
it is equivalent to parallel connection.Hence keq  k1  k2
m keq   5  8   13 N / mm  13000N / m

1 keq 1 13000
k2  fn    5.74 Hz
2 m 2 10
(ii) Stiffness is inversely proportional to the number of turns
of a spring. When a spring is cut into two halves, the number
of turns is halved & hence the stiffness of each half is double
2k1 that of the original.
Also when the mass is placed between two halves, it amounts
m
to springs in parallel.
2k1  keq  2k1  2k1  4k1  4  5  20 N / mm  20000 N / m

1 keq 1 20000
 fn    7.12 Hz
2 m 2
Dr P R Venkatesh, 10
MEch Dept,
RVCE,Bengaluru-59
 Numerical Problem 8
Determine the natural frequency of the spring
mass system shown in fig.

k 2= 4N/mm

a=0.4 m

k 1 = 6N/mm
b=0.6 m

Dr P R Venkatesh, MEch Dept,

RVCE,Bengaluru-59
 k 2= 4N/mm 2
k= k 2 (a/b)

a=0.4 m  b=0.6 m

k 1 = 6N/mm k 1 = 6N/mm
b=0.6 m

m m

Solution : Let k be the equivalent of spring 2 at the free end.

Let  be the angular displacement of lever due to load. Then
elongation of spring 2  aθ & that of equivalent spring  bθ
Taking moments about the left support,
2 2
a  0.4 
k2 (a )  a  k (b )  b  k  k 2   = 4   = 1.778 N / mm
b  0.6 
Dr P R Venkatesh, MEch Dept,
RVCE,Bengaluru-59
 k 2= 4N/mm 2
k= k 2 (a/b)

a=0.4 m  b=0.6 m

k 1 = 6N/mm k 1 = 6N/mm
b=0.6 m

m m

Then the spring 1 ( stiffness 6 N/mm) is in series with the above

1 1 1
  
keq 1.778 6
1.778  6
 keq   1.3714 N / mm  1371.4N / m
(1.778  6)
1 keq 1 1371.4
fn    2.4 Hz
2 m 2 6Dr P R Venkatesh, MEch Dept,
RVCE,Bengaluru-59
 Natural frequency of transverse vibrations
• In case of transverse vibrations, the vibration occurs in a
direction perpendicular to the axis of elastic constraint.
• The equation for natural frequency is same as that of
longitudinal vibrations.


m

1 k 1 g mgl 3
i.e. f n   , where;   for cantilever with end load
2 m 2  3EI
mgl 3
&  for simply supported beam with central load
48 EI
Dr P R Venkatesh, MEch Dept,
RVCE,Bengaluru-59
 Numerical Problem 1

A steel cantilever beam of length 250 mm has a

square cross section of 5x5 mm. A mass of 5 Kg is
attached to the free end of the beam as shown in
figure. Determine the natural frequency of the
system if the mass is displaced slightly and released.

Dr P R Venkatesh, MEch Dept,

RVCE,Bengaluru-59
 
m

Solution : Given l  250 mm, m  5kg , b  h  5 mm

For steel, elastic modulus E  210 GPa  210 103 MPa( N / mm 2 )
bh3 b 4 54
Moment of inertia of square section I     52.08 mm 4
12 12 12
( b=h for square section)
mgl 3
For cantilever with load at free end, deflection due to end point load  =
3EI
5  9.81 2503 3
  23.36 mm  23.36  10 m
3  210 10  52.08
3

1 g 1 9.81
 fn    3.26 Hz
2  2 23.36 10 3
Dr P R Venkatesh, MEch Dept,
RVCE,Bengaluru-59
 Numerical Problem 2

A small Pelton wheel rotating at 1500 rpm has a

rotor of mass 10 Kg mounted at the centre of a steel
shaft which has a span of 0.4 m between bearings.
What should be the diameter of the shaft , so that
the transverse natural frequency is 50 percent higher
than the running speed? Assume E for steel as 2x1011
pa.

Dr P R Venkatesh, MEch Dept,

RVCE,Bengaluru-59
Given : l  0.4 m, m  10kg , N  1500rpm, E  2 1011 Pa, f n  1.5  rps
Solution : As natural frequency is 50% more than operating speed,
 1500 
f n  1.5  rps  1.5     37.5 Hz
 60 
1 g 1 9.81
But f n   37.5   Δ = 0.000177 m
2  2 
mgl 3
For simply supported beam with load at center, deflection load  =
48 EI
10  9.81 0.43
 0.000177   I = 3.695 × 10 -9
m 4

48  2 1011  I
d4
But moment of inertia of circular section I 
64
d4
 3.695 × 10 
-9
 Dia of shaft d = 0.0166 m = 16.6 mm
Dr P R Venkatesh, MEch Dept,
64 RVCE,Bengaluru-59
 Natural frequency of torsional vibrations
In case of torsional vibrations, the twisting & untwisting of the
elastic shaft occurs about the axis of the shaft.

Torsional stiffness (Nm/rad) kt

Here, n  
Mass moment of inertia (kg-m 2 ) I
 Torque  T 
Torsional stiffness kt    
 angle of twist    
L d T G T GJ
But from torsion equation,    ,where,
J L  L
G  Rigidity modulus of shaft material=80 GPa for steel
d4
J  Polar moment of inertia of shaft  (d being dia of shaft )
I 32
I  Mass moment of inertia of disk, L  Length of shaft

 kt GJ 1 GJ
 circular frequency n    fn 
I IL 2 IL
Dr P R Venkatesh, MEch Dept,
RVCE,Bengaluru-59
 Numerical Problem 3

Determine the natural frequency of a simple

pendulum of length of rod l & mass m attached at
its end;

(i) Neglecting the mass of rod and

(ii) Considering the mass of the rod mr

Use both Newton’s method & energy method.

Dr P R Venkatesh, MEch Dept,
RVCE,Bengaluru-59
(i) Nelgecting mass of rod
O (i) Newton's method : Taking moments about point O,
for equilibrium, (Inertia torque + Restoring torque)= 0
I O  mg (l sin  )  0, (I O is mass moment of inertia about 'O')

 l Here, I o  ml 2 , sin    for small oscillations

l
 The equilibrium equation is ml 2  mgl  0.
g g 1 g
h m i.e.     0  ωn = & hence f n =
l l 2π l
mg
1 1
(ii) Energy method : Kinetic energy of mass K .E  I o 2  ml 2 2
2 2
Potential energy P.E  mgh  mgl (1- cos  )
d 1 2 2 
For a conservative system,  ml   mgl (1- cos  ) 0
dt  2 
l  g 0  ( sin  )   0. As sin    , l  g  0
g g 1 g
i.e.     0  ωn = & hence f n =
l l 2π l
Dr P R Venkatesh, MEch Dept,
RVCE,Bengaluru-59
(ii) Considering mass of rod
(i) Newton's method : Taking moments about point O,
O for equilibrium, (Inertia torque + Restoring torque)= 0

l/2 
I O  mg (l sin  )  mr g l sin   0
2 
 m 
Here, I o   m  r  l 2 , sin    for small oscillations
l  l  3 
mr g  mr  2  mr 
 The equilibrium equation is  m  l    m   gl  0.
h m  3   2 
 mr   mr 
mg
 m  g  m + g
i.e.      0ω =   & hence
2 2
  l   l
n
mr mr
 m    m + 
 3   3 
 mr 
1  
m +
2 g
fn =
2π  mr  l
 m + 
 Dr P R Venkatesh,
3  MEch Dept,
RVCE,Bengaluru-59
(ii) Considering mass of rod
(ii) Energy method :
1 m  2 2
K .E of mass+K .E of rod   m  r l 
O 2 3 
l
l/2 P.E of mass + P.E of rod  mgl (1- cos  )  mr g (1- cos  )
2
 m 
 l i.e.P.E of mass + P.E of rod  gl  m  r  (1- cos  )
l  2 
mr g
d 1  mr  2 2  mr  
For a conservative system,  m   l   gl  m   (1- cos  ) 0
m dt  2  3   2  
h
 m   
mr
mg l  m  r   g  m  0  ( sin  )   0. As sin    ,
 3   2
 mr 
 m  
 mr  g mr   2 g
i.e.  m     m     0 i.e.    0
 3  l  2   m  l
m
r

 3 
 mr   mr 
m+  m+ g
 ωn =  2 g
& hence f n =
1  2 
 mr  l 2π  mr  l
 m + Dr P R Venkatesh, MEch Dept,  m + 
 3 RVCE,Bengaluru-59  3 
 Numerical Problem 4

A U-tube manometer of cross section area A

contains a liquid column of length l & density
r in its two limbs. Determine the frequency of
oscillation of the liquid column.

Dr P R Venkatesh, MEch Dept,

RVCE,Bengaluru-59
 (i) Newton's method :
Here, total mass of liquid column =r Al
P
2x
Q Weight of liquid which restores equilibrium=( r A2 x) g
x
(Inertia force + Restoring force)= 0
 2g 
( r Al ) x  ( r A2 x) g  0  x   x 0
 l 
l 2g 1 2g
 ωn = & hence f n =
l 2π l
1
(ii) Energy method : Kinetic energy of liquid column  ( r Al ) x 2
2
Potential energy P.E w.r.t datum P-Q  ( r Agx) x  r Agx 2
d 1 2
For a conservative system,  ( r Al ) x 2
 r Agx  0
dt  2 
2g 2g 1 2g
( r Al ) xx  2 r Agxx  0 i.e. x  x  0  ωn = & fn =
l
Dr P R Venkatesh, MEch Dept,
RVCE,Bengaluru-59
l 2π l
 Numerical Problem 5

A cylinder of mass m & and radius r is connected at

the center by a spring of stiffness k to a fixed support.
It is free to roll on a horizontal rough surface without
slipping. Determine its natural frequency.

m r k

Dr P R Venkatesh, MEch Dept,

RVCE,Bengaluru-59
 m
K
x

 r

(i) Newton's method : Taking moments about 'A'

Inertia torque + Restoring Torque =0  I A  ( kx) r  0, where;
 is the angular displacement of cylinder center
x  deformation of spring  r
1 2 3
By parallel axis theorem,I A  I O  mr  mr  mr  m r 2
22

2 2
3 2  2k 
 mr   kr   0    
2
  0
2  3m 
2k 1 2k
Comparing with equation of SHM, ωn = & fn =
Dr P R Venkatesh, MEch Dept,
RVCE,Bengaluru-59
3m 2π 3m
 m
K
x

 r

d
(ii) Energy method :  K .E  P.E   0
dt
K.E of cylinder =Rotational kinetic energy about point A
1 13 2 2 3
K.E of cylinder  I A   mr    mr 2 θ 2
2

2 22  4
1 1
P.E of spring  kx 2  kr 2 θ 2
2 2
d 3 1 2 2 3 2 1 2
 mr θ
2 2
 kr θ   0  mr 2   kr 2  0
dt  4 2  4 2
 2k  2k 1 2k
i.e.       0.  ωn = & fn =
 3m  3mMEch Dept,
Dr P R Venkatesh, 2π 3m
RVCE,Bengaluru-59
 Numerical Problem 6

Determine its natural frequency of the system shown in fig.

K K

m a

Note:
• The solution is similar to previous one except that there are two springs
in parallel & hence an equivalent stiffness is 2k.
• Also the distance of the spring force from the point of contact A is (r+a)
Dr P R Venkatesh, MEch Dept,
RVCE,Bengaluru-59
 K x K

m a

 r

A
(i) Newton's method : Taking moments about 'A'
Inertia torque + Restoring Torque =0  I A  (2kx)(r  a )  0, where;
2k=combined stiffness of the springs in parallel
 is the angular displacement & x  deformation of spring  (r  a )
1 2 3
By parallel axis theorem,I A  I O  mr  mr  mr  mr 2
2 2

2 2
3 2  4 k ( r  a ) 2

 mr   2k (r  a ) 2   0     2   0
2  3mr 
4k(r + a)2 1 4k(r + a)2
Comparing with equation of SHM, ωn = & f n =
3mr
Dr P R Venkatesh, MEch Dept,
2
2π 3mr 2
RVCE,Bengaluru-59
 K x K

m a

 r

A
d
(ii) Energy method :  K .E  P.E   0
dt
K.E of cylinder =Rotational kinetic energy about point A
1 13 2 2 3
K.E of cylinder  I A   mr    mr 2 θ 2
2

2 22  4
1
P.E of spring  (2k ) x 2  k(r + a)2 θ 2
2
d 3 2 2  3 2
 mr θ
2 2
 k(r + a) θ   0  mr 2  k ( r  a ) 2
2  0
dt  4  4
 4k ( r  a ) 2  4k(r + a)2 1 4k(r + a)2
i.e.       0.  ω n = & f n =
 3 mr 2
 Dept, 2
Dr P R Venkatesh, MEch3mr
RVCE,Bengaluru-59
2π 3mr 2
 Numerical Problem 7

Determine the natural frequency of the system

shown in fig neglecting the mass of the rod.

k a

m
Dr P R Venkatesh, MEch Dept,
RVCE,Bengaluru-59
 (i) Newton's method : Taking moments about 'O'
O
Inertia torque + Restoring Torque =0
k a  I o  mg (l )  (ka )a  0,
 L  is the angular displacement
a  deformation of spring &
m I O  Mass moment of inertia about 'o'=ml 2
mg  ml 2  (mgl  ka 2 )  0
 mgl  ka 2 
Or    2   0
 ml 
 mgl + ka 2 
 ωn =  2  &
 ml 
1  mgl + ka 2 
fn =  
mlMEch Dept,
2πDr P RVenkatesh, 2

RVCE,Bengaluru-59
 d
O
(ii) Energy method :  K .E  P.E   0
dt
K.E of mass = I o 2   ml 2   2
1 1
k a 2 2
 L P.E  P.E of mass  P.E of spring
1
P.E  mgl (1  cos  )  k (a ) 2
2
m
d 1 2
mg 
dt  2
 ml 2
  2
 mgl (1  cos  ) 
1
2
k ( a ) 

0

 ml 2  mgl  ka 2  0

 mgl  ka 2 
Or    2   0
 ml 
 mgl + ka 2 
 ωn =  2  &
 ml 
1  mgl + ka 2 
fn =  
2π  MEchml
Dr P R Venkatesh,
2
Dept, 
RVCE,Bengaluru-59
 Numerical Problem 8

Determine the natural frequency of the system shown in fig

neglecting the mass of the rod.

k L

Note:
• The solution is similar to previous one except that the moment due to ‘mg’ is negative
as it tends to move the body away from equilibrium.
Dr P R Venkatesh, MEch Dept,
RVCE,Bengaluru-59
 (i) Newton's method :
Taking moments about 'O'
Inertia torque + Restoring Torque =0
mg
  I o  mg (l )  (ka )a  0,
k L where a  deformation of spring &
a I O  Mass moment of inertia about 'o'=ml 2
 ml 2  (ka 2  mgl )  0
O
 ka 2  mgl 
Or    2   0
 ml 
 ka 2  mgl 
 ωn =  2  &
 ml 
1  ka 2  mgl 
fn =  
2π MEch
Dr P R Venkatesh, ml
 Dept,
2

RVCE,Bengaluru-59
 d
(ii) Energy method :  K .E  P.E   0
dt
K.E of mass = I o 2   ml 2   2
1 1
mg 2 2
 P.E  P.E of mass  P.E of spring
k L 1
P.E  mg (l cos  )  k (a ) 2
2
a
d 1 2

dt  2
 ml 2
  2
 mg (l cos  ) 
1
2
k ( a ) 

0
O
 ml 2  mgl  ka 2  0
 ka 2  mgl 
Or    2   0
 ml 
 ka 2  mgl 
 ωn =  2  &
 ml 
1  ka 2  mgl 
fn =  
Dr P R Venkatesh, ml 2
2π MEch Dept, 
RVCE,Bengaluru-59
 Numerical Problem 9

Determine its natural frequency of the system shown in fig

neglecting the mass of the rod.

k
a
m
L

Note:
The solution is similar to previous one except that the moment due to ‘mg’ is cancelled by
the moment due to spring force due to its static elongation.
Dr P R Venkatesh, MEch Dept,
RVCE,Bengaluru-59
 (i) Newton's method :
k Taking moments about 'O'
a Inertia torque + Restoring Torque =0

m
 I o  (ka )a  0,
L
where a  deformation of spring &
I O  Mass moment of inertia about 'o'=m l 2
 ml 2  ka 2  0
 ka 2 
Or    2    0
 ml 
a k 1 a  k 
 ωn =   & fn =    
l m 2π  l   m 
Dr P R Venkatesh, MEch Dept,
RVCE,Bengaluru-59
 d
(ii) Energy method :  K .E  P.E   0
dt
K.E of mass = I o   ml 2   2
k 1 2 1
a
2 2

1
L m
P.E of spring  k (a ) 2
2
d 1 2

dt  2
 ml 2
  2

1
2
k ( a  ) 

0

 ml 2  ka 2  0
 ka 2 
Or    2    0
 ml 
a k 1 a  k 
 ωn =   & fn =    
l  m
Dr P R Venkatesh, MEch Dept,
2π  l  m
RVCE,Bengaluru-59
 Numerical Problem 10

Determine the natural frequency of the system shown in fig

neglecting the mass of the pulley.

k2

k1

Dr P R Venkatesh, MEch Dept,

RVCE,Bengaluru-59
 From the geometry of the given system, it is evident that if the
elongation of spring 1 is x, the deformation of spring 2 must be 2x.

As there are two springs, it is necessary to find the combined stiffness.

Let k be the equivalent of spring 2 at the center of the pulley.
Taking moments about 'A' (kx)r  k2 (2 x)2r  k  4k2

k2 k=4k2

k1 k1

m m
Dr P R Venkatesh, MEch Dept,
RVCE,Bengaluru-59
 k=4 k2

k1

As the pulley mass is neglegible, springs k1 & k are in series

1  1 1  1 1 
& hence their combined stiffness is;     
keq  k1 k   k1 4k2 
4k1k2 keq 4k1 k 2 1 4k1 k 2
 keq   ωn =  & fn =
k1  4k2 m m(k1 + 4k 2 ) 2π m(k1 + 4k 2 )
Dr P R Venkatesh, MEch Dept,
RVCE,Bengaluru-59
 Numerical Problem 11

Determine the equation of motion and the natural

frequency of the system shown in fig.

M r

Dr P R Venkatesh, MEch Dept,

RVCE,Bengaluru-59
 (i) Newton's method :
k Taking moments about 'A'
M Inertia torque + Restoring Torque =0
r x=2r
  (mx)2r  I A  (kr )r  0,

where x  2r  displacement of mass ' m '
I A  Mass moment of inertia about 'A'
m
1 3
I A  ( I o  Mr )= Mr  Mr  Mr 2
2 2 2

2 2
3
 4mr 2  Mr 2  kr 2  0
2
 3 
Or   4m  M   k  0
 2 
k 1 k
 ωn = & fn =
 3  2π  3 
 4m + M   4m + M 

Dr P R Venkatesh, 2 Dept, 
MEch  2 
RVCE,Bengaluru-59
 d
k (ii) Energy method :  K .E  P.E   0
dt
M K.E=(Translational K.E of mass)+(Rotational K.E of pulley about 'A')
r x=2r

K.E= mx 2  I A 2 , But x  2r , I A   Mr 2 



1 1 3
2 2 2
 3 
 K.E == m4r 2 2   Mr 2   2   2m + M  r 2 θ 2
1 3
m
2 4  4 
1 1
P.E of spring  k (r ) 2  kr 2 2
2 2
d  3  2 2 1 2 2
  2 m  M  r   kr    0
dt  4  2 
 3  1
  2m  M  2  k (2 )  0
 4  2
 3 
Or  4m  M    k  0
 2 
k 1 k
 ωn = & fn =
 3  2π  3 
 Dr P R Venkatesh,
4m + M  MEch Dept,  4m + M
 
2RVCE,Bengaluru-59  2 
 Numerical Problem 12

Determine the equation of motion and the natural

frequency of the system shown in fig.

M r

m k

Dr P R Venkatesh, MEch Dept,

RVCE,Bengaluru-59
 (i) Newton's m ethod :
M r Taking moments about fulcrum 'O'
x 
 Inertia torque + Restoring Torque =0
 (mx)r  I O  (kr )r  0,
m k where x  r  displacement of mass ' m '
x
1
I O  Mass moment of inertia about 'O' = Mr 2
2
1
 mr   Mr 2  kr 2  0
2

2
 M
Or   m    k  0
 2
k
1 k
 ωn = & fn =
 M 2π  M
 m +   m + 
 2   2 
Dr P R Venkatesh, MEch Dept,
RVCE,Bengaluru-59
 d
M r
(ii) Energy m ethod :  K .E  P.E   0
dt
x  K.E=(Translational K.E of mass)+(Rotational K.E of pulley about 'O')

K.E= mx 2  I O 2 , But x  r , IO   Mr 2 
1 1 1
2 2 2
m k
m M  2 2
 K.E == mr 2 2   Mr 2   2   +
1 1
x
r θ
2 4 2 4 
1 1
P.E of spring  k (r ) 2  kr 2 2
2 2
d  m M  2 2 1 2 2 
   r   kr    0
dt  2 4  2 
m M  1
    2  k (2 )  0
2 4  2
 M
Or  m     k  0
 2 
k 1 k
 ωn = & fn =
 M 2π  M
 m +   m + 
 2   2 
Dr P R Venkatesh, MEch Dept,
RVCE,Bengaluru-59
 Numerical Problem 13

A cylinder of mass ‘m’ and radius ‘r’ rolls without

slipping on a circular surface of radius ‘R’. Determine the
natural frequency for small oscillations about the lowest
point.
O


R
A'
r
 D

B C r

 mg Dr P R Venkatesh, MEch Dept,

A
RVCE,Bengaluru-59
 O


R
A'
r
 D

B C r

 mg A

Solution : When the cylinder is in the lowest position, the point of contact is A
and it occupies the position A' when the point of contact changes to B such that;
R
Arc AB  Arc A ' B  R  r  =   
r
R 
Net rotation of the cylinder = DrPR Venkatesh,
  MEch
 
 1 Dept,
r
RVCE,Bengaluru-59
 O

(i) Newton's m ethod :


A'
R Taking moments about 'B'
r
 D Inertia torque +Restoring Torque =0
C r
 I B (   )  mg (r sin  )  0
B

 mg A

3 2
But I B  Mass moment of inertia about B = mr
2
 Rr 
(   )     , & sin  
 r 
3 2 Rr   2g 
 mr     mgr  0 Or      0
2  r   3( R  r ) 
2g 1 2g
 ωn = & fn =
3(R - r) Dr P R Venkatesh,
2π MEch3(R
Dept, - r)
RVCE,Bengaluru-59
 d
O (ii) Energy method :  K .E  P.E   0
dt
1

R
Rotational K.E of pulley about 'B'= I B (   ) 2
A' 2
 Rr 
r

B

C r
D
But (   )  
 r


 , I B 
3
2
 mr 2

 3 2 ( R - r )2 2 3
mg A  K.E = mr 2
  m(R - r) θ
2 2

4 r 4

P.E of cylinder  mg(R - r)(1 - cosθ). For a conservative system,

 K .E  P.E   0   m( R - r ) 2 2  mg ( R - r )(1- cos  )   0

d d 3
dt dt  4 
3
Hence m( R  r ) 2 2  mg ( R  r )(sin  )  0
4
3
For small oscillations, sin     ( R  r )  g  0
2
2g 1 2g
 ωn = & fn =
3(R - r) 2π 3(R
Dr P R Venkatesh, - r)
MEch Dept,
RVCE,Bengaluru-59
 Numerical Problem 14

Determine the frequency of oscillation of a

semicircular homogeneous disk of radius R and
mass M shown in fig.

R
M

Dr P R Venkatesh, MEch Dept,

RVCE,Bengaluru-59
 O
r Note : The distance of the cg of a semicircular disk
CG
  4R 
of radius 'R' about its cenetr 'O' is  
 3 
Mg
r =(4R/3

(i) Newton's method :

Taking moments about 'O' Inertia torque +Restoring Torque =0
1  4R 
i.e. I O  Mg (r )  0  MR   Mg 
2
  0
2  3 
 8g  8g 1 8g
    0  ωn = & fn =
 3 R  3πR 2π 3πR

Dr P R Venkatesh, MEch Dept,

RVCE,Bengaluru-59
 Note :
O
The vertical displacement of cg w.r.t its equilibrium
r
CG

position due to rotation of the disk through an angle  is;
4R
 r  r cos    r 1  cos    (1  cos  )
Mg 3
r =(4R/3
(ii) Energy method :
1 11  1
Rotational K.E of disk about 'O'= I O 2   MR 2   2  MR 2 θ 2
2 22  4
 4R 
Potential energy of disk =Mgr(1  cos  )  Mg   (1 - cosθ)
 3π 
d d 1  4R  
For a conservative system, K . E  P . E   0   MR 
2 2
 Mg   (1- cos  )  0
dt dt  4  3  
1  4R 
Hence MR 2 2  Mg   (sin  )  0. For small oscillations, sin   
4  3 
 8g  8g 1 8g
Hence       0  ωn = & fn =
 3 R  3P RRVenkatesh, MEch2π
Dr Dept, 3 R
RVCE,Bengaluru-59
 Numerical Problem 15

A homogeneous cylinder of mass m & radius r is suspended

by a spring of constant ‘k’ N/m and an inextensible cord as
shown in fig. Find the natural frequency of vibration of the
cylinder.

r m

Dr P R Venkatesh, MEch Dept,

RVCE,Bengaluru-59
 (i) Newton's method :
k Taking moments about 'A'
r m Inertia torque +Restoring Torque =0
i.e. I A  kx(2r )  0
x =2r  

3 2
But I A  Mass moment of inertia about A = mr
2
From the geometry of the arrangement , x  2r
3 2  8k 
 mr   4kr   0 Or       0
2

2  3m 
8k 1 8k
 ωn = & fn =
3m 2π 3m
Dr P R Venkatesh, MEch Dept,
RVCE,Bengaluru-59
 d
(ii) Energy method :  K .E  P.E   0
dt
k
1
K.E=Rotational K.E of pulley about 'A' = I A 2
r m 2

But I A   Mr   K.E =  Mr 2  θ 2
x =2r  3 3
2

2 4
1 2 1
P.E of spring  kx  k (2r ) 2  2kr 2 θ 2
2 2
d 3 2 2

dt  4
 Mr    2kr    0
2 2


3   8k 
  M  2  2k (2 )  0 Or      0
4   3M 
8k 1 8k
 ωn = & fn =
3m 2π 3m
Dr P R Venkatesh, MEch Dept,
RVCE,Bengaluru-59
Assignment: Determine the natural frequency of the
following systems shown in figs (a) & (b) below.

3 kg

O
0.4 m
b k
K=1kN/m a
0.2 m
l
k

K=1kN/m
m

Fig (a) Dr P R Venkatesh, MEch Dept,

Fig (b)
RVCE,Bengaluru-59