POWER POINT PRESENTATION

ON

MECHANICAL VIBRATION AND

STRUCTURAL DYNAMICS

IV B. Tech I semester (JNTUH-R15)

G S D MADHAV
ASSISTANT PROFESSOR, AE

Y SHWETHA
ASSISTANT PROFESSOR, AE

DEPARTMENT OF AERONAUTICAL ENGINEERING

INSTITUTE OF AERONAUTICAL ENGINEERING

(AUTONOMOUS)

DUNDIGAL, HYDERABAD - 500 043

Mechanical Vibration and Structural
Dynamics
Unit 1: Introduction - Single degree-of-freedom
system
Contents
Lecture
Date UNIT TOPIC Reference Pages
No.
I Introduction to Single-Defree-of-Freedom-System
1 1.1 Simple Harmonic motion (SHM), terminology
1.2 Degrees of freedom
2 1.3 Free vibration and forced vibration
Examples of single-degree-of-freedom mechanical
vibrations
Equation of motion
1.4 Spring, inertia and damping elements
3 1.5 Undamped natural frequency
Damped natural frequency
Damping ratio
4 1.6 Mechanism of damping
Equivalent viscous damping
5 1.7 Forced vibrations
Examples
Resonance
Amplitude and phase response diagram
6 1.8 Vibration measuring instrunent
7 D'Alembert Principles
1.0 Some historical background
• Historically studies on vibration (acoustics) started long ago (around 4000BC)

• Musicians and philosophers have sought out the rules and laws of sound
production, used them in improving musical instruments, and passed them
on from generation to generation

• Music had become highly developed and was much appreciated by Chinese,
Hindus, Japanese, and, perhaps, the Egyptians.

• These early peoples observed certain definite rules in connection with the art
of music, although their knowledge did not reach the level of a science.

• Early applications (by Egyptian) to single or multiple string instruments known as

Harps

• Our present system of music is based on ancient Greek civilization.

• The Greek philosopher and mathematician Pythagoras (582-507 B.C.) is

considered to be the first person to investigate musical sounds on a scientific
basis [later on we will be talking about Mathematical Basis as well]
1.1 Introductory Remarks
 Most human activities involve vibration in one form or other. For example, we
hear because our eardrums vibrate and see because light waves undergo
vibration

 Any motion that repeats itself after an interval of time is called vibration or
oscillation.

 The general terminology of “Vibration” is used to describe oscillatory motion

of mechanical and structural systems

 The Vibration of a system involves the transfer of its potential energy to

kinetic energy and kinetic energy to potential energy, alternately


1.1 Introductory Remarks
• Any object in this world having mass and elasticity is capable of vibration

• We are mainly interested in vibration of mechanical system

• When subjected to an oscillating load, this system undergoes a vibratory behavior

• Vibrations are an engineering concern in these applications because they may

cause a catastrophic failure (complete collapse) of the machine or structure
because of excessive stresses and amplitudes (resulting mainly from resonance) or
because of material fatigue over a period of time

Example: - Failure of Tacoma Narrows Bridge in 1940 due to 42-mile-per-hour wind

undergoing a torsional mode resonance
- Vibration of machine components generate annoying noise
- Vibration of string generate pleasing music (already discussed before)

• Vibrations in mechanical system (or more preciously flight vehicles) is dissipated

by inherent damping of the material

• Vibration of mechanical system is model as a combination of spring-mass-damper

1.1 Introductory Remarks
• In some system it may be clearly visible – for example vibration of automobiles

- The body mass represented by concentrated mass m

- The Stiffness of suspension system is represented by linear/nonlinear
spring k
- The shock absorber is represented by damper c

• In most of the cases (like in continuous system) it may not be possible

clearly identify spring-mass-damper system

- Vibration of flight vehicle

- Vibration of machine component etc
1.2 Degrees of freedom

“Period of vibration” is the time that it takes to complete one cycle. It is

measured in seconds.
“Frequency” is the number of cycles per second. It is measured in Hz (1
cycle/second). It could be also measured in radians/second.

Period of vibration: T
Frequency of vibration: f = (1/T) Hz or ω = (2π/T) radians/s T=(2 π/ω) = (1/T)
Types of Vibratory Motion
Oscillatory motion may repeat itself regularly, as in the case of a simple
pendulum, or it may display considerable irregularity, as in the case of ground
motion during an earthquake.

If the motion is repeated after equal intervals of time, it is called periodic motion.
The simplest type of periodic motion is harmonic motion.

Harmonic motion

It is described by sine or cosine functions.

x(t) = Asin(ω t)

A is the amplitude while ω is the frequency (radians/sec)

Types of Vibratory Motion
Types of Vibratory Motion
Two harmonic motions having the same period and/or amplitude could have
different phase angle
Types of Vibratory Motion
Types of Vibratory Motion
Types of Vibratory Motion
1.2 Degrees of freedom (cont…)
1.2 Degrees of freedom (cont…)
1.2 Degrees of freedom (cont…)
1.2 Degrees of freedom (cont…)
1.3 Classification Vibration
Vibration can be classified in several ways. Some of the important classifications
are as
follows.

a) Free and forced vibration

b) Undamped and damped vibration
c) Linear and nonlinear vibrations
d) Deterministic and random vibration

The terminology of “Free Vibration” is used for the study of natural vibration
modes in the absence external loading.

The terminology of “Forced Vibration” is used for the study of motion as a

result of loads that vary rapidly with time. Loads that vary rapidly with time are
called dynamic loads.
1.3 Classification 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, is called “damped vibration”.

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.
Importance of Dynamic Analysis
Load magnification and Fatigue effects

A static load is constant and is applied to the structure for a considerable part of
its life. For example, the self weight of building. Loads that are repeatedly
exerted, but are applied and removed very slowly, are also considered static
loads.

Fatigue phenomenon can be caused by repeated application of the load. The

number of cycles is usually low, and hence this type of loading may cause what is
known as low-cycle fatigue.

Quasi-static loads are actually due to dynamic phenomena but remain constant
for relatively long periods.

Most mechanical and structural systems are subjected to loads that actually
vary over time. Each system has a characteristic time to determine whether the
load can be considered static, quasi-static, or dynamic. This characteristic time is
the fundamental period of free vibration of the system.
Importance of Dynamic Analysis
Dynamic Load Magnification factor (DLF) is the ratio of the maximum dynamic
force experienced by the system and the maximum applied load.

The small period of vibration results in a small DLF.

Fatigue phenomenon can be caused by repeated application of the load. The

number of cycles and the stress range are important factors in determining the
fatigue life.
1.3 Classification Vibration
1.4 Spring, inertia and damping elements
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 minimum number of independent coordinates required to determine

completely the positions of all parts of a system at any instant of time defines
the degree of freedom (DOF) of the system.

A large number of practical systems can be described using a finite

number of DOFs. Systems with a finite number of DOFs are called discrete
or lumped parameter systems.

Some systems, especially those involving continuous elastic members,

have an infinite number of DOFs. Those systems are called continuous or
distributed systems.
Parallel arrangement of springs in a freight truck
Torsional Spring Constant of a Propeller Shaft
Equivalent k of Hoisting Drum
Equivalent k of Hoisting Drum
Equivalent k of a Crane
1.4 Dynamic Loads on Flight Vehicle Structures
Unsteady air loads – Atmospheric turbulence, gust, engine vibration

Pilots input to control surfaces for manoeuver

Landing impact

Runway unevenness'

Blast pressure

Acoustic loads
1.4 Spring, Damper and Mass elements
1.4.1 Simple Harmonic Motion (SHM)
A particle moves to and fro in such a way that the acceleration is always proportional to the
displacement and directed towards origin, the motion is called SHM

A particle is moving along a circular path with constant velocity ω rad/sec

Θ=ωt
1.4.1 Simple Harmonic Motion (SHM)

xt   A sin t
2
  2f

x  A cos t
x   A sin t   x
2 2

x   x2

x   x  0
2
1.1
1.4.2 Energy Method
 Application of conservation of energy

 For free vibration of undamped system, the energy is partly potential and partly
kinetic
 Their sum is always constant

T + U = constant (1.2)
d
T U   0 1.3
dt

 From principle of conservation of energy we can write

T1  U1  T2  U 2 1.4
 Let 1 and 2 are two instances of time

 Let 1 corresponds to equilibrium position, U1 = 0

 Let 2 corresponds to maximum displacement, T2= 0

 Therefore, T1  0  0  U 2 1.5
1.4.2 Energy Method
 Since system is undergoing harmonic motion, then T1 and U2 are maximum values,
hence
Tmax  U max 1.6
 For a spring-mass system, kinetic energy is given by

T  12 mx 2
 Potential energy is given by

U  12 kx2
x  Asin t , then one can write x  A; x  A 
2 2 2
 Let

 Substituting for x and dx/xt in the expression for U and T one can write

Tmax  12 mA2 2
U max  12 kA2
1
2 mA2 2  12 kA2
 k
m
1.7 
1.5 Equations of motion
1.5 Equations of motion
1.5 Equations of motion
1.5 Equations of motion
Logarithmic Decrement
Logarithmic Decrement
1.7 Damped forced vibration
1.7.1 Resonance

Phase relationships
among the applied,
spring, damping, and
inertia forces for
harmonic motion for
frequency ratio
values less than one-
half, equal to one,
and equal to one and
a half.
Modeling Mechanical Systems
Modeling Structural Dynamic Systems
Modeling Structural Dynamic Systems
Modeling Structural Dynamic Systems
References
1. Timoshenko, S.P., Vibration Problems in Engineering ,
2. Harris and Creed, Shock and Vibration Handbook, 2010.
3. Singh, V.P., Mechanical Vibration,
4. Graham Kelly, S., Mechanical Vibration,
5. Grover, G.K., Mechanical Vibrations,
6. Vibration and Waves, MIT Series, 1987, CBS Publishers and Distributors.
7. Thomson, W.T., Theory of vibrations with applications, CBS Publishers, Delhi.
8. Rao, S.S., Mechanical Vibrations, 5th Edition, Addison–Wesley Publishing Co., 2011.
9. Meirovitch, L., Fundamentals of vibrations, McGraw Hill International Edition, 2001.
10. Mallik, A.K., Principles of Vibration Control, Affiliated East-West Press.
11. Church, A.H., Mechanical Vibrations, John Wiley and Sons, Inc.
12. [Link]
13. E:\Library2B_Sep11\Engineering\Mechanics of Solids\Structural Dynamics
14. Very big, E:\Library3_Oct11\Structural Dynamics
15. Quite big, E:\Library4_Dec11\Engineering\Mechanics of Solids\Structural Dynamics
Mechanical Vibration and Structural
Dynamics

Unit 2: Vibration of discrete System

Contents

Lecture
Date UNIT TOPIC Reference Pages
No.
II Vibration of discrete systems
2.1 Two/three-degrees-of-freedom System
2.2 Static and dynamic coupling
Examples
2.3 Principle coordinates
Principle modes
2.4 Orthogonality conditions
2.5 Extension to multiple-degrees-of-freedom systems
2.6 Vibration absorber
2.0 Discrete and continuous system
• A large number of practical systems can be described using a finite number of degrees of
freedom, such as the simple systems shown in slides 5 to 7.

• Some systems, especially those involving continuous elastic members, have an infinite
number of degrees of freedom.

• As a simple example, consider the cantilever beam shown in slide 8.

• Since the beam has an infinite number of mass points, we need an infinite number of
coordinates to specify its deflected configuration.

• The infinite number of coordinates defines its elastic deflection curve.

• Thus the cantilever beam has an infinite number of degrees of freedom.

• Most structural and machine systems have deformable (elastic) members and therefore
have an infinite number of degrees of freedom

• Systems with a finite number of degrees of freedom are called discrete or lumped
parameter systems, and those with an infinite number of degrees of freedom are called
continuous or distributed systems.
2.0 Discrete and continuous system (cont…)
• Most of the time, continuous systems are approximated as discrete systems, and solutions
are obtained in a simpler manner.

• Although treatment of a system as continuous gives exact results, the analytical methods
available for dealing with continuous systems are limited to a narrow selection of problems,
such as uniform beams, slender rods, and thin plates.

• Hence most of the practical systems are studied by treating them as finite lumped masses,
springs, and dampers.

• In general, more accurate results are obtained by increasing the number of masses,
springs, and dampers - that is, by increasing the number of degrees of freedom.
2.1 Two/Three-degree-of-freedom (MDOF) system
2.1 Two/Three-degree-of-freedom (MDOF) system
2.1 Two/Three-degree-of-freedom (MDOF) system
2.1 Two/Three-degree-of-freedom (MDOF) system
2.2 Static and Dynamic couplings
2.2 Static and Dynamic couplings
2.2 Static and Dynamic couplings
2.2 Static and Dynamic couplings
2.2 Static and Dynamic couplings
Figure below shows a rigid bar with its centre of mass not coinciding with its geometric
centre, ie, l1≠l2, and supported by two springs, k1 and k2.

It represents a two degree of freedom since two coordinates are necessary to describe its
motion

The choice of the coordinates will define the type of coupling which can be immediately
determine from the mass and stiffness matrices.

Mass or dynamic coupling exists if the mass matrix is non-diagonal, whereas stiffness or
static coupling exists if the stiffness matrix is non-diagonal.

It is possible to have both forms of coupling.

2.2 Static and Dynamic couplings
Static Coupling
Choosing coordinates x and  shown in the figure below, where x is the linear
displacement of the center of mass, the system will have static coupling as shown by the
matrix equation

m 0   x  k1  k2  k2l2  k1l1   x 

0
 0 J    k l  k l   
2  
 
k1l1  k2l2    0
2
    2 2 1 1
If k1l1  k2l2 , the coupling disappears, and we obtain uncoupled x and  vibrations
2.2 Static and Dynamic couplings
Dynamic Coupling
There is some point C along the bar where a force applied normal to the bar produces
pure translation; i.e.,

The equations of motion in terms of xc and  can be shown to be

 m me xc  k1  k2  0   xc  0
me J       0 k1l32  k2l42      0

       
Which shows that the coordinates chosen eliminated the static coupling and introduced
dynamic coupling
2.2 Static and Dynamic couplings
Static and Dynamic Coupling
If we choose x=x1 at the end of the bar, as shown in figure below, the equations of
motion become

 m ml1  x1  k1  k2  k2l   x1  0

ml J      k l 2     
k2l    0
 1 1    2
and both static and dynamic coupling are now present
2.2 Static and Dynamic couplings
T  12 mx 2
2.2 Forced vibration of 2-DOF System
The equations of motion of a general two-degree-of-freedom system
under external forces can be written as

 m11 m12   x1  c11 c12   x1   k11 k12   x1   F1 

m             2.3
 12 m22  x2  c12 c22   x2  k12 k22   x2  F2 
We shall consider the external forces to be harmonic:

Fj t   Fj 0eit j  1,2 2.4

where  is the forcing frequency.

We can write the steady-state solution as

x j t   X j eit j  1,2 2.5

where X1 and X2 are, in general, complex quantities that depend on
and the system parameters.
2.2 Forced vibration of 2-DOF System
Substitution of Eqs. (2.4) and (2.5) into Eq. (2.3) leads to


   2 m11  ic11  k11    m 2
 ic12  k12  X    F
1 10 
2.6
   
12

  2
m12  ic12  k12    m 2
22  ic22  k 22  X  F
2 20 

we define the mechanical impedance, Zrs(i) as

Z rs i    2 mrs  icrs  k rs r , s  1,2 2.7 

and write Eq. (2.6) as

 
Z i X  F0 2.8
2.2 Forced vibration of 2-DOF System
where

 Z11 i  Z12 i 

Z i      Impedance matrix
 Z12 i  Z 22 i 
  X1 
X  
and X 2 
  F10 
F0   
 F20 

Equation (5.32) can be solved to obtain

 
X  Z i  F0 2.9
1
2.2 Forced vibration of 2-DOF System
where the inverse of the impedance matrix is given by

 Z 22 i   Z12 i 

Z i 1

1
  2.10
     
Z11 i Z 22 i  Z12 i  12
2
 Z i  Z11 i  

Equations (2.9) and (2.10) lead to the solution

Z 22 i F10  Z12 i F20

X 1 i  
Z11 i Z 22 i   Z122 i 

 Z12 i F10  Z11 i F20

X 2 i   2.11
Z11 i Z 22 i   Z122 i 

By substituting Eq. (2.11) into Eq. (2.5) we can find the complete solution.
2.4 Multiple-degree-of-freedom Linear System
Equations of Motion

2.4.1 Position Vector

Let P0 be the space coordinates of a point of an elastic mechanical system at a time to.

Because of the application of an external force at t = to, the point in consideration will
occupy a new position P at a time t.

The vector PPo will thus represent the displacement of the point with initial position P0.

If we now consider a discrete system, or a continuum that has been approximated as a

discrete system using a set of generalized coordinates q, we can write

P  F q 2.5
where q is the set of the generalized coordinates that define completely the mechanical
system and F is the transformation operator.

For a linear system, the transformation operator F does not depend on the generalized
coordinates q, and thus we can write for any point j of the mechanical system
2.4 Multiple-degree-of-freedom Linear System
 q1 
 Pj Pj Pj  q2 
Pj       2.6
 q1 q2 qn   
qn 
where Pj / qi are constants that do not depend on the generalized coordinates
for a linear system and that represent the variation in the displacement at the point
in consideration due to a unit variation in the generalized coordinate qi.

In this section, to simplify the notation, we will use Einstein's summation notation for
repeated indices, and we write Eq. (2.6) as

n
 Pj  Pj
Pj     qi  qi 2.7
i 1  qi  qi
2.4 Multiple-degree-of-freedom Linear System
2.4.2 Velocity Vector

The velocity at any point j of the mechanical elastic system at a time t can be written as

dPj
Vj  2.8
dt
Using Eq. (2.6), we can write the velocity vector as

dPjdPj dqi dPj '

Vj    qi 2.9
dt qi dt qi
where qi'  dqi / dt
2.4.3 Kinetic Energy Functional

The kinetic energy functional of the elastic mechanical system reads

T    P V P .V P dv 2.10

1
2 v
2.4 Multiple-degree-of-freedom Linear System
Where (P) is the material density at a point P, V(P) is the velocity vector at point P, and v
is the volume of the elastic mechanical system.

For a discrete system we can use Eqs. (2.9) and (2.10) and write kinetic energy functional
as
1 ' P P  '
T  q j   . dv  qi 2.11
2  v q j qi 
Or, in matrix notation, we can write

T  q  M q
 2.12
1T
2
We call [M] the mass matrix of the mechanical system.

The elements of the mass matrix are given by

P P
M ij    dv 2.13
v qi q j
2.4 Multiple-degree-of-freedom Linear System
We conclude from Eq. (2.13) that the mass matrix is a symmetrical real
matrix and because the expression {q’}T[M]{q'} represents an energy
expression for any vector {q'} different from the null vector, we further
conclude that
x M x  0
T
x  0 2.14
Therefore, [M] is a positive definite matrix

2.4.4 Strain Energy Functional

The stress-strain relationship for an elastic linear continuum can be written as

   C  2.15
where [C] is the material constitutive matrix and is a symmetric matrix because
the stress and strain tensors are symmetric tensors.

Writing now the strain-displacement relationship as

   d P 2.16
2.4 Multiple-degree-of-freedom Linear System
where [d] is the differential operator relating the strains to the displacements, and
substituting Eq. (2.7) into Eq. (2.16), we obtain

   d N P 2.17

where [N] has been used to denote the transformation matrix of the displacements
to the generalized coordinates. The strain energy functional of the elastic mechanical
system reads
U      dv 2.18
1 T

2 v
Using now the relation of Eqs. (2.15) and (2.17) and Eq. (2.18), we can write
the strain energy functional as

U 1
2
q v N  d  C d N dvq
T T T
2.19
or

U 1
2
q K q
T
2.20
where

K   v N T d T C d N dv 2.21

2.4 Multiple-degree-of-freedom Linear System
We call [K] the stiffness matrix of the elastic mechanical system.

Again, we observe that [K] is a real symmetrical matrix because the constitutive material
matrix is a symmetric matrix and is real.

Furthermore, from energy consideration concepts, we conclude from Eq. (2.20) that [K]
is a positive definite matrix for a constrained mechanical elastic system or a semi-
positive definite matrix for an elastic mechanical free body.

2.4.5 Expression of the Dissipation Function

We consider in this section that the damping forces of the elastic mechanical system are
of viscous nature and are linearly related to the velocity vector, and we write

FD P 
FD P   qi 2.22
qi
where FD(P) is the damping force of the elastic mechanical system at point P.

The variation in the virtual work of the damping forces in a virtual displacement
P reads
2.4 Multiple-degree-of-freedom Linear System

T    P V P .V P dv 2.10

1
2 v

dPj
Vj  2.8
dt
2.4 Multiple-degree-of-freedom Linear System

T    P V P .V P dv 2.10

1
2 v

dPj
Vj  2.8
dt
2.4 Multiple-degree-of-freedom Linear System

T    P V P .V P dv 2.10

1
2 v

dPj
Vj  2.8
dt
2.4 Multiple-degree-of-freedom Linear System

T    P V P .V P dv 2.10

1
2 v

dPj
Vj  2.8
dt
2.4 Multiple-degree-of-freedom Linear System

T    P V P .V P dv 2.10

1
2 v

dPj
Vj  2.8
dt
2.4 Multiple-degree-of-freedom Linear System

T    P V P .V P dv 2.10

1
2 v

dPj
Vj  2.8
dt
2.4 Multiple-degree-of-freedom Linear System

T    P V P .V P dv 2.10

1
2 v

dPj
Vj  2.8
dt
2.4 Multiple-degree-of-freedom Linear System

T    P V P .V P dv 2.10

1
2 v

dPj
Vj  2.8
dt
2.5 Coordinate Coupling and Principle coordinates
As stated earlier, an n-degree-of-freedom system requires n independent coordinates to
describe its configuration.

Usually, these coordinates are independent geometrical quantities measured from the
equilibrium position of the vibrating body.

However, it is possible to select some other set of n coordinates to describe the

configuration of the system.

The latter set may be, for example, different from the first set in that the coordinates may
have their origin away from the equilibrium position of the body.

There could be still other sets of coordinates to describe the configuration of the system.
Each of these sets of n coordinates is called the generalized coordinates
2.7 Vibration Absorber
The vibration absorber, also called dynamic vibration absorber, is a
mechanical device used to reduce or eliminate unwanted vibration.

It consists of another mass and stiffness attached to the main (or original)
mass that needs to be protected from vibration.

Thus the main mass and the attached absorber mass constitute a two-
degree-of-freedom system, hence the vibration absorber will have two
natural frequencies.

The vibration absorber is commonly used in machinery that operates at

constant speed, because the vibration absorber is tuned to one particular
frequency and is effective only over a narrow band of frequencies.

Common applications of the vibration absorber include reciprocating tools,

such as sanders, saws, and compactors, and large reciprocating internal
combustion engines which run at constant speed (for minimum fuel
consumption).
2.7 Vibration Absorber
In these systems, the vibration absorber helps balance the reciprocating
forces.

Without a vibration absorber, the unbalanced reciprocating forces might

make the device impossible to hold or control.

Vibration absorbers are also used on high-voltage transmission lines.

In this case, the dynamic vibration absorbers, in the form of dumbbell-

shaped devices (Figure below), are hung from transmission lines to
mitigate the fatigue effects of wind induced vibration.
2.7 Vibration absorber
2.7 Vibration absorber
2.7 Dynamic Vibration Absorber
2.7 Dynamic Vibration Absorber
When we attach an auxiliary mass m2 to a machine of mass m1 through a
spring of stiffness k2 the resulting two-degree-of-freedom system will look
as shown in Figure in next slide.

The equations of motion of the masses m1 and m2 are

m1x1  k1 x1  k2 x1  x2   F0 sin t

m2 x2  k2 x2  x1   0 2.30

By assuming harmonic solution,

x j t   X j sin t j  1,2 2.31

2.7 Dynamic Vibration Absorber
we can obtain the steady-state amplitudes of the masses m1 and m2 as

X1 
k  m  2

F0
2.32
  
2 2
k1  k2  m1 2 k2  m2 2  k22

X2 
k 2 F0
2.33
k1  k2  m1 2 k2  m2 2  k22
We are primarily interested in reducing the amplitude of the machine (X1)

In order to make the amplitude of m1 zero, the numerator of Eq. (2.32)

should be set equal to zero.

This gives
 
2 k2
2.34
m2
2.7 Dynamic Vibration Absorber
If the machine, before the addition of the dynamic vibration absorber,
operates near its resonance,  2  12  k1 / m1

Thus if the absorber is designed such that

 2k2

k1
2.35
m2 m1
the amplitude of vibration of the machine, while operating at its original
resonant frequency, will be zero. By defining
1

F0  k1  2

 st  ; 1   
k1  m1 
as the natural frequency of the machine or main system, and
1

 k2  2

2    2.36
 m2 
2.7 Dynamic Vibration Absorber
as the natural frequency of the absorber or auxiliary system, Eqs. (2.32)
and (2.33) can be rewritten as

2

1   
 2 
X1
 2.37 
 st  k    2      2  k
1  2     1      2
 k1  1     2   k1

X2

1
2.38
 st  k    2      2  k
1  2     1      2
 k1  1     2   k1
2.7 Dynamic Vibration Absorber
Figure in next slide shows the variation of the amplitude of vibration of
the machine (X1/st) with the machine speed (/1).

The two peaks correspond to the two natural frequencies of the

composite system.

As seen before, X1= 0 at  = 1

At this frequency, Eq. (2.38) gives

k1
X 2    st  
F0
2.39
k2 k2
This shows that the force exerted by the auxiliary spring is opposite to the impressed
force and neutralizes it, thus reducing to zero.

The size of the dynamic vibration absorber can be found from Eqs. (9.142) and (9.138):
2.7 Dynamic Vibration Absorber
This shows that the force exerted by the auxiliary spring is opposite to the impressed
force (k2X2 = -F0) and neutralizes it, thus reducing X1 to zero.

The size of the dynamic vibration absorber can be found from Eqs. (2.39) and (2.35):

k 2 X 2  m2 2 X 2   F0 2.40
Thus the values of k2 and m2 depend on the allowable value of X2.
2.7 Dynamic Vibration Absorber

Effect of undamped vibration absorber on the response of machine

2.7 Dynamic Vibration Absorber
It can be seen from Figure in previous page that the dynamic vibration absorber, while
eliminating vibration at the known impressed frequency , introduces two resonant
frequencies 1 and 2 at which the amplitude of the machine is infinite.

In practice, the operating frequency  must therefore be kept away from the
frequencies 1 and 2.

The values of 1 and 2 can be found by equating the denominator of Eq. (2.37) to
zero.

Noting that 2
k 2 k 2 m2 m1 m2  2 
    2.41
k1 m2 m1 k1 m1  1 
and setting the denominator of Eq. (2.37) to zero leads to


4 2
 2    
2
  m    2 
       1  1  2  2    1  0 2.42
 2   1   2    m1  1  
2.7 Dynamic Vibration Absorber
The two roots of this equation are given by

  m    2 
 1  
 m    
1  2
 2

  1  1  

2 
1

 2 2

 m2  2  
2
  2   
 1    1  1      4   
2

     m1  1    1   
 
 2    2.43
2 2
 2    2 
   2 
 2    1 

which can be seen to be functions of (m2/m1) and (2/1).

2.7 Dynamic Vibration Absorber
1. It can be seen, from Eq. (9.146), that is less than and is greater than the
operating speed (which is equal to the natural frequency, ) of the machine. Thus
the machine must pass through during start-up and stopping. This results in
large amplitudes.
2. Since the dynamic absorber is tuned to one excitation frequency the steady-state
amplitude of the machine is zero only at that frequency. If the machine operates at other
frequencies or if the force acting on the machine has several frequencies, then the
amplitude of vibration of the machine may become large.
3. The variations of and as functions of the mass ratio are
shown in Fig. 9.35 for three different values of the frequency ratio It can be
seen that the difference between and increases with increasing values of
m2/m1.
2.7 Dynamic Vibration Absorber
Text Books
1. Clough, R.W., and Penzien, J., Dynamics of Structures, McGraw-Hill, Inc., 1975.
2. Rao, S.S., Mechanical Vibrations, Addison–Wesley Publishing Co., 5th Ed., 2004.
3. Rao, J.S and Gupta .K., Theory and practice of Mechanical Vibrations, Wiley Eastern Ltd.,
New Delhi, 2002.

References
1. Megson, T.H.G., Aircraft Structures for Engineering Students Butterworth-Heinemann
is an imprint of Elsevierl, Oxford OX2 8DP, UK, 2007.
2. Fung, Y.C., An Introduction to Theory of Aeroelasticity, John Wiley & Sons, NewYork,1955.
3. Timoshenko, S., Vibration Problems in Engineering, John Wiley and Sons, New York,1987.
4. Piersol, A.G., and Paez, T.L., Harris’ Shock and Vibration Handbook, Sixth Edition,
McGraw-Hill, 2010.
5. Singh, V.P., Mechanical Vibrations, Dhanapati Rai and Co. 2003.
6. Graham Kelly, S., Mechanical Vibrations, TMH 2004.
7. Groover, G.K., Mechanical Vibrations, Nemchand and Brothers 2001.
8. Vibrations and Waves MIT series 1987, CBS Publishers and Distributors
9. Scanlon, R.H., and Rosenbaum, R., Introduction to the Study of Aircraft Vibration and
Flutter , John Wiley and Sons, New York, 1982.
References
1. Timoshenko, S.P., Vibration Problems in Engineering ,
2. Harris and Creed, Shock and Vibration Handbook, 2010.
3. Singh, V.P., Mechanical Vibration,
4. Graham Kelly, S., Mechanical Vibration,
5. Grover, G.K., Mechanical Vibrations,
6. Vibration and Waves, MIT Series, 1987, CBS Publishers and Distributors.
7. Thomson, W.T., Theory of vibrations with applications, CBS Publishers, Delhi.
8. Rao, S.S., Mechanical Vibrations, 5th Edition, Addison–Wesley Publishing Co., 2011.
9. Meirovitch, L., Fundamentals of vibrations, McGraw Hill International Edition, 2001.
10. Mallik, A.K., Principles of Vibration Control, Affiliated East-West Press.
11. Church, A.H., Mechanical Vibrations, John Wiley and Sons, Inc.
12. [Link]
13. E:\Library2B_Sep11\Engineering\Mechanics of Solids\Structural Dynamics
14. Very big, E:\Library3_Oct11\Structural Dynamics
15. Quite big, E:\Library4_Dec11\Engineering\Mechanics of Solids\Structural Dynamics
Bismarck-Nasr, M.N., Structural Dynamics in Aeronautical Engineering, AIAA Education
Series, 1997, Ch. 3, pp. 53
Mechanical Vibration and Structural
Dynamics

Unit 3: Vibration of continuous system

Contents

III Vibration of Continuous system

3.1 Introduction to Hamilton Principle
Longitudinal, transverse and torsional vibration of
3.2
cylindrical shaft - extension to taper shaft
Dynamic equations of equilibra of general elastic body
3.3
3.1 What is continuous system?
A structural member consisting of a single piece of a particular material(s) without any
visible discontinuity is a continuous structure or continuous system

Example: Rods, Beams, shafts, panels/plates, and shells

A single piece of above kind of continuous structure made of composites

materials is essentially a continuous system

Smart structures are also modeled a continuous structures

Sometimes discontinuous structure, behaves like continuous structure when

properly joined with bolts, rivets or weld

Vehicle structures (surface, air and space) appear and behave like a continuous
structures
3.1 What is continuous system?

(a) A continuous string of mass M, displaced transversely;

(b) a discrete model of the string.
3.1 What is continuous system? (cont…)

(a) A continuous bar of mass M;

(b)A discrete model of the bar.
3.1 What is continuous system?
3.1 What is continuous system?

Nondimensional Frequencies ω* = ω (Ml/AE) for n d.o.f. Discrete

Models of Longitudinal Vibrations of a Fixed-Free Bar, as Described in
Figure in the previous slide
3.1 Introduction to continuous system
• The displacement, velocity and acceleration are describe as a function of space
(x,y,z) and time (t)
• Coordinate System (rectangular, cylindrical and spherical)
• In analytical dynamics generalized coordinate system
• Application of variation principles
• Derivation of energy expressions (KE, PE , Virtual work, etc)
• Application of Lagrange’s equation or Hamilton’s principle
3.2 Hamilton’s Principle
Hamilton’s Principle is used for the development of equations of motion in vectorial form
using scalar energy quantities in a variational form

 T  V dt   Wnc dt  0
t2 t2
 t1 t1

Where T = total kinetic energy of system

V=potential energy of system, including both strain energy and potential
of any conservative external forces
Wnc= work done by non-conservative forces acting on system, including
damping and any arbitrary external loads
 = variation taken during indicated time interval
Hamilton’s principle states that the variation of kinetic and potential energy plus the
variation of the work done by the non-conservative forces considered during interval
t1 to t2 must equal to zero

The application of this principle leads directly to the equations of motion for any given
system
3.3 Solutions of vibration problems using Variational
Principles
3.1 Introduction to continuous system
3.2 Discreatize models of continuous systems
3.3 Solutions of vibration problems using Variational Principles
3.4 Vibrations of strings, bars, shafts and beams
3.3.1 Rayleigh – Ritz Method
3.3.1 Rayleigh – Ritz Method
3.4.3 Torsional Vibrations of shafts
3.4.3 Torsional Vibrations of shafts
3.4.4 Vibrations of beams
3.4.4 Vibrations of beams
3.4.4 Vibrations of beams
3.4.4 Vibrations of beams
Frequency equations and eigenfunctions for each of the six cases are
summarized below.
3.4.4 Vibrations of beams
3.4.4 Vibrations of beams

In the above equations, ξ = x/ℓ is measured in each case from the left
end of the beam. The values of β are the square roots of the
frequency parameters listed in Table in next slide. More accurate
values of β and γ are available in the classical study of Young and
Felgar .
3.4.4 Vibrations of beams
3.4.4 Vibrations of beams
3.4.4 Vibrations of beams
3.4.4 Vibrations of beams
References

10. Thomson, W.T., Theory of vibrations with applications, CBS Publishers, Delhi.
11. Rao, S.S., Mechanical Vibrations, Addison–Wesley Publishing Co.,
12. Meirovitch, L., Fundamentals of vibrations, McGraw Hill International Edition, 2001.
13. Mallik, A.K., Principles of Vibration Control, Affiliated East-West Press.
14. Church, A.H., Mechanical Vibrations, John Wiley and Sons, Inc.
15. Timoshenko, S.P., Vibration Problems in Engineering, Ch. VI, Vibration of elastic bodies, pp.
307/323.
16. Leissa, A.W., Vibration of continuous system, The McGraw-Hill Company, 2011.
17. De Silva, C.W., (Editor), Vibration and Shock Handbook, CRC Press Taylor and Francis Group,
2005.
18. Piersol, A.G., and Paez, T.L., Harris’ Shock and Vibration Handbook, Sixth Edition, McGraw-
Hill, 2010.
Mechanical Vibration and Structural
Dynamics
Unit 4: Determination of natural frequencies and
mode shapes
Contents

Lecture
Date UNIT TOPIC Reference Pages
No.
Determination of natural frequencies and mode
IV
shapes
4.1 Natural vibration of solid continua
Metods of determining natural frequencies and mode
4.2
shapes
4.2 Solution Methods for Eigenproblems
We concentrate on the solution of the eigenproblem

K  M 1
and., in particular, on the calculation of the smallest eigenvalues 1 , 2 , 3 ,...,  p
and corresponding eigenvectors 1 , 2 , 3 ,...,  p .

The solution methods that we considered here first can be subdivided into four groups,
corresponding to which basic property is used as the basis of the solution algorithm
(Ref. J.H. Wilkinson)

1. Vector Iteration Method

Ki  i Mi 2

2. Transformation Method
First we have to determine mode shapes matrix Φ, such that

 K  
T
3
 M  I
T
4
4.2 Solution Methods for Eigenproblems
where
  1 2  n 
  diag i , i  1,2,, n
3. Polynomial Iteration

pi   0 5
where p   det K  M  6
4. Sturm Sequence Property of the Characteristic Polynomials

p   det K  M  7 
  
where p r  r   det K r   r M r   8
n=1,2,3,…,(n-1)
4.2 Solution Methods for Eigenproblems
 
p r  r  is the characteri stic polynomial of r th associated
constraint problem correspond ing to K  M
5. Lanczos Method and Subspace Iteration Method used combination of above
4 methods
4.3.1 Eigenvalue Extraction Methods in MSC/NASTRAN
In MSC/NASTRAN following Methods are Available for Real
Eigenvalue Extraction

1. Transformation Methods
 Givens Method
 Householder Method
 Modified Givens Method
 Modified Householder Method

2. Tracking Methods
 Inverse Power Method
 Sturm Modified Inverse Power Method

Lanczos Method combines the best characteristics of both the tracking and
transformation methods.
4.3.1Eigenvalue Extraction Methods in MSC/NASTRAN
Text Books
1. Clough, R.W., and Penzien, J., Dynamics of Structures, McGraw-Hill, Inc., 1975.
2. Rao, S.S., Mechanical Vibrations, Addison–Wesley Publishing Co.,
3. Rao, J.S and Gupta .K., Theory and practice of Mechanical Vibrations, Wiley Eastern Ltd.,
New Delhi, 2002.

References
1. Megson, T.H.G., Aircraft Structures for Engineering Students Butterworth-Heinemann
is an imprint of Elsevierl, Oxford OX2 8DP, UK, 2007.
2. Fung, Y.C., An Introduction to Theory of Aeroelasticity, John Wiley & Sons, NewYork,1955.
3. Timoshenko, S., Vibration Problems in Engineering, John Wiley and Sons, New York,1987.
4. Piersol, A.G., and Paez, T.L., Harris’ Shock and Vibration Handbook, Sixth Edition,
McGraw-Hill, 2010.
5. Singh, V.P., Mechanical Vibrations, Dhanapati Rai and Co. 2003.
6. Graham Kelly, S., Mechanical Vibrations, TMH 2004.
7. Groover, G.K., Mechanical Vibrations, Nemchand and Brothers 2001.
8. Vibrations and Waves MIT series 1987, CBS Publishers and Distributors
9. Scanlon, R.H., and Rosenbaum, R., Introduction to the Study of Aircraft Vibration and
Flutter , John Wiley and Sons, New York, 1982.
References
1. Timoshenko, S.P., Vibration Problems in Engineering ,
2. Harris and Creed, Shock and Vibration Handbook, 2010.
3. Singh, V.P., Mechanical Vibration,
4. Graham Kelly, S., Mechanical Vibration,
5. Grover, G.K., Mechanical Vibrations,
6. Vibration and Waves, MIT Series, 1987, CBS Publishers and Distributors.
7. Thomson, W.T., Theory of vibrations with applications, CBS Publishers, Delhi.
8. Rao, S.S., Mechanical Vibrations, 5th Edition, Addison–Wesley Publishing Co., 2011.
9. Meirovitch, L., Fundamentals of vibrations, McGraw Hill International Edition, 2001.
10. Mallik, A.K., Principles of Vibration Control, Affiliated East-West Press.
11. Church, A.H., Mechanical Vibrations, John Wiley and Sons, Inc.
12. [Link]
13. E:\Library2B_Sep11\Engineering\Mechanics of Solids\Structural Dynamics
14. Very big, E:\Library3_Oct11\Structural Dynamics
15. Quite big, E:\Library4_Dec11\Engineering\Mechanics of Solids\Structural Dynamics
Mechanical Vibration and Structural
Dynamics
Unit 5:
Contents

5.1 Natural frequencies of rotating shaft

5.2 Whirling of shafts
5.3 Dynamic balancing of rotating machinary
5.4 Dynamic dampers
5.2 Whirling of shafts
5.2 Whirling of shafts
Text Books
1. Clough, R.W., and Penzien, J., Dynamics of Structures, McGraw-Hill, Inc., 1975.
2. Rao, S.S., Mechanical Vibrations, Addison–Wesley Publishing Co.,
3. Rao, J.S and Gupta .K., Theory and practice of Mechanical Vibrations, Wiley Eastern Ltd.,
New Delhi, 2002.

References
1. Megson, T.H.G., Aircraft Structures for Engineering Students Butterworth-Heinemann
is an imprint of Elsevierl, Oxford OX2 8DP, UK, 2007.
2. Fung, Y.C., An Introduction to Theory of Aeroelasticity, John Wiley & Sons, NewYork,1955.
3. Timoshenko, S., Vibration Problems in Engineering, John Wiley and Sons, New York,1987.
4. Piersol, A.G., and Paez, T.L., Harris’ Shock and Vibration Handbook, Sixth Edition,
McGraw-Hill, 2010.
5. Singh, V.P., Mechanical Vibrations, Dhanapati Rai and Co. 2003.
6. Graham Kelly, S., Mechanical Vibrations, TMH 2004.
7. Groover, G.K., Mechanical Vibrations, Nemchand and Brothers 2001.
8. Vibrations and Waves MIT series 1987, CBS Publishers and Distributors
9. Scanlon, R.H., and Rosenbaum, R., Introduction to the Study of Aircraft Vibration and
Flutter , John Wiley and Sons, New York, 1982.
References
1) Thomson, W.T., Theory of vibrations with applications, CBS Publishers, Delhi.
2) Rao, S.S., Mechanical Vibrations, Addison–Wesley Publishing Co.,
3) Meirovitch, L., Fundamentals of vibrations, McGraw Hill International Edition, 2001.
4) Mallik, A.K., Principles of Vibration Control, Affiliated East-West Press.
5) Church, A.H., Mechanical Vibrations, John Wiley and Sons, Inc.
6) Timoshenko, S.P., Vibration Problems in Engineering, Ch. V, Torsional and lateral
vibration of shaft, pp. 253/269.
7) [Link]