Lecture-1

Basic concepts of vibration: Any motion that repeats itself after an interval of time is called vibration or
oscillation. The swinging of a pendulum and the motion of a plucked string are typical examples of
vibration. The theory of vibration deals with the study of oscillatory motions of bodies and the forces
associated with them.

Elementary Parts of Vibratory Systems: A vibratory system, in general, includes a means for storing
potential energy (spring or elasticity), a means for storing kinetic energy (mass or inertia), and a means by
which energy is gradually lost (damper). The vibration of a system involves the transfer of its potential
energy to kinetic energy and of kinetic energy to potential energy, alternately. If the system is damped,
some energy is dissipated in each cycle of vibration and must be replaced by an external source if a state
of steady vibration is to be maintained.

Number of Degrees of Freedom: The minimum number of independent coordinates required to

determine completely the positions of all parts of a system at any instant of time defines the number of
degrees of freedom of the system.

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Free and Forced Vibration:If a system, after an initial disturbance, is left to vibrate on its own, the
ensuing vibration is known as fee vibration. No external force acts on the system. The oscillation of a
simple pendulum is an example of free vibration.
If a system is sub#cted to an external force (often, a repeating type of force), the resulting vibration is
known as forced vibration. The oscillation that arises in machines such as diesel engines is an example of
forced vibration.

If the frequency of the external force coinides with one of the natural frequencies of the system, a
condition known as resonance occurs, and the system undergoes dangerously large oscillations. Failures
of such structures as buildings, bridges, turbines, and airplane wings have been associated with the
occurrence of resonance.

Damped and Undamped Vibration : If no energy is lost or dissipated in friction or other resistance during
oscillation, the vibration is known as undamped vibration. If any energy is lost in this way, however, it is
called damped vibration. In many physical systems, the amount of damping is so small that it can be
disregarded for most engineering purposes. However, consideration of damping becomes extremely
important in analyzing vibratory systems near resonance.

Linear and Nonlinear Vibration : If all the basic components of a vibratory system the spring, the mass,
and the damper behave linearly, the resulting vibration is known as linear vibration. If, however, any of
the basic components behave nonlinearly, the vibration is called nonlinear vibration.

Inearization of a Nonlinear Spring : To illustrate the linearization process, let the static equilibrium load F
acting on the spring cause a deflection of If an incremental force is added to F, the spring deflects by an
additional quantity The new spring force can be expressed using Taylor s series expansion about the static
equilibrium position as:

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We may use Eq. (1.6) for simplicity, but sometimes the error involved in the approximation may be very
large.

It is noted that Taylor’s series is defined as :

𝑓𝑛 (𝑎) 𝑓/ (𝑎) 𝑓// (𝑎)
∑∞
𝑛=0 (𝑥 − 𝑎)𝑛 =𝑓(𝑎) + (𝑥 − 𝑎)1 + (𝑥 − 𝑎)2 + ⋯
𝑛! 1! 2!

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Spring Constantt :

𝐹 𝛿 𝐹𝑙 𝐹
𝜎 = 𝐸𝜀, =𝐸 , 𝛿= ,𝑘 =
𝐴 𝑙 𝐴𝐸 𝛿

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 𝑇𝐿 𝑇 𝐺𝐽
𝜃 = 𝐺𝐽, 𝑘 𝑇 = 𝜃 = 𝐿

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Solution: The equivalent spring constant can be found using the equivalence of potential energies of the
two systems. Since the base of the crane is rigid, the cable and the boom can be considered to be fixed
at points F and A, respectively. Also, the effect of the cable CDEB is negligible; hence the weight W can
be assumed to act through point B as shown in Fig. 1.32(b).

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Displacement along the bar and cable due to compression of x in verticle direction,

Mass or Inertia Elements:

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Case 1: Translational Masses connected by a Rigid Body

Case 2: Translational and Rotational Masses Coupled Together:

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 1 1 𝐽 1 1𝐽 1
We can transfer to equivalent mass or inertia. 2 𝑚𝑒𝑞 𝑥̇ 𝑒𝑞 2 = 2 (𝑚 + 𝑅02 ) 𝑥̇ 2 = 2 𝑚𝑥̇ 2 + 2 𝑅02 𝑥̇ 2 = 2 𝑚𝑥̇ 2 +
1 𝐽0
2 𝑅2
(𝑅 2 𝜃̇ 2 )

Or

1 2 1 1 1 1 1 𝑥̇ 2
𝐽 𝜃̇ 2 ̇ 2 ̇ 2 2 ̇ 2 ̇ 2 2
= (𝐽0 + 𝑚𝑅 )𝜃 = 𝐽0 𝜃 + 𝑚𝑅 𝜃 = 𝐽0 𝜃 + 𝑚𝑅 ( )
2 𝑒𝑞 𝑒𝑞 2 2 2 2 2 𝑅

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 1 1 1 1 1 1
𝑇 = 𝑚𝑥̇ 2 + 𝐽𝑃 𝜃̇𝑃2 + 𝐽1 𝜃̇12 + 𝑚2 𝑥̇ 22 + 𝐽𝑐 𝜃̇𝑐2 + 𝑚𝑐 𝑥̇ 22
2 2 2 2 2 2
1 𝑥𝑙1
𝑥 = 𝑟𝑝 𝜃𝑝 = 𝑟𝑝 𝜃1 , 𝐽1 = 𝑚1 𝑙12 , 𝑥2 = 𝑙1 𝜃1 = 𝑙1 𝜃𝑝 = , 𝑥 = 𝑟𝑐 𝜃𝑐
3 𝑟𝑝 2
2 2 2 2 2
1 1 𝑥̇ 1 𝑚1 𝑙12 𝑥̇ 1 𝑥̇ 𝑙1 1 𝑥̇ 𝑙1 1 𝑚𝑐 𝑟𝑐2 𝑥̇ 𝑙1
𝑇 = 𝑚𝑥̇ 2 + 𝐽𝑃 ( ) + ( ) ( ) + 𝑚2 ( ) + 𝑚𝑐 ( ) + ( )( )
2 2 𝑟𝑝 2 3 𝑟𝑝 2 𝑟𝑝 2 𝑟𝑝 2 2 𝑟𝑝 𝑟𝑐

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𝑇 = 𝑚𝑒𝑞 𝑥̇ 2
2
2 2 2 2 2
1 𝑚1 𝑙12 1 𝑙1 𝑙1 𝑚𝑐 𝑟𝑐2 𝑙1
𝑚𝑒𝑞 = 𝑚 + 𝐽𝑃 ( ) + ( ) ( ) + 𝑚2 ( ) + 𝑚𝑐 ( ) + ( )( )
𝑟𝑝 3 𝑟𝑝 𝑟𝑝 𝑟𝑝 2 𝑟𝑝 𝑟𝑐

𝐽𝑃 𝑚1 𝑙12 𝑚2 𝑙12 𝑚𝑐 𝑙12 𝑚𝑐 𝑙12

𝑚𝑒𝑞 = 𝑚 + + + 2 + 2 +
𝑟𝑝2 3𝑟𝑝2 𝑟𝑝 𝑟𝑝 2𝑟𝑝2

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