1.3.

BASIC CONCEPTS OF VIBRATION

With the discovery of musical instruments like drums, the vibra
tion became a point of interest for scientists and since then there has
been much investigation in the field of vibration. All bodies having
mass and elasticity are capable ofvibration. The mass is inherent of the
body and elasticity causes relative motion among its parts. When body
particles are displaced by the application of external force, the internal
forces in the form of elastic energy are present in the body. These forces
try to bring the body to its original position. At equilibrium position, the
whole of the elastic energy is converted into kinetic energy and body
continues tr . . "e in the opposite direction because of it. The whole of
the kinetic ..:rgy is again converted into elastic or strain energy due

BALL

MEAN POSITION

Fig. 1.1. Simple pendulum.

ELEMENTS OF VIBRATION

to which the body again returns to the equilibrium position. In this way,
Vibratory notion is repeated indefinitely and exchange of energy takes
place. lus, any motion which repcats itself after an interval of time IS
called vibration or oscillation. The swinging of simple pendulum as
shown in figure 1.1 is an example of vibratior: or oscillation as the
motion of ballis to and fro from its mean position repeatedly. The main
reasons of vibration are as follows
1. Unbalanced centrifugal force in the system. This is caused
because of non-uniform material distribution in a rotating
machine element.
2. Elastic nature of the system.
3. External excitation applied on the system.
4. Winds may cause vibrations of certain systems such as
electricity lines, telephone lines, etc.
1.4. IMPORTANCE OF VIBRATION STUDY IN ENGINEERING
The structures designed support the high speed engines and
turbines are subjected to vibration. Due to faulty design and poor
manufacture there is unbalance in the engines which causes excessive
and unpleasant stresses in the rotating system because of vibration.
The vibration causes rapid wear of machine parts such as bearings and
gears. Unwanted vibrations may cause loosening of parts from the
machine. Because of improper design or material distribution, the
wheels of locomotive can leave the track due to excessive vibration
which results in accident or heavy loss. Many buildings,structures and
bridges fall because of vibration. Ifthe frequency of excitation coincides
with one of the natural frequencies of the system, a condition of
resonance is reached, and dangerously large oscillations may occur
which may result in the mechanical failure of the system.
Sometimes because of heavy vibrations proper readings of instru
ments cannot be taken. Excessive vibration is dangerous for human
beings. Thus keeping in view all these devastating effects, the study of
vibration is essential for a mechanical engineer to minimize the vibra
tional effects over mechanical components by designing them suitably.
Vibration can be used for useful purposes such as vibration testing
equipments, vibratory conveyors, hoppers, sieves and compactors.
Vibration is found very fruitful in mechanical workshops such as in
improving the eficiency of machining, casting, forging and welding
techniques, musical instruments and earthquakes for geological re
search. It is useful for the propagation of sound.
Thus undesirable vibrations should be eliminated or reduced upto
certain extent by the following methods:
1. Removing external excitation, if possible.
 4 MECHANICAL VIBRATIONS
2. Using shock absorbers.
3. Dynamic absorbers.
4. Resting the system on proper vibration isolators.
1.5. DEFINITIONS
Periodic motion. Amotion which repeats itself aftercqual inter.
vals of time.
Time period. Time taken to complete one cycle.
Frequency. Number of cycles per unit time.
Amplitude. The maximum displacement of avibrating body from
its equilibrium position.
Natural frequency. When no external force acts on the system
after giving it an initial displacement, the body vibrates. These vibra
tions are called free vibrations and their frequency as natural frequen
cy. It is expressed in rad/sec or Hertz.
Fundamental Mode of Vibration. The fundamental mode of
vibration of a system is the mode having the lowest natural frequency.
Degree of freedom. The minimum number of independent coor
dinates required to specify the motion of a system at any instant is
known as degrees of freedom of the system.

m
(a)
2K2
(b)
m22
Fig. 1.2. Finite degree of freedom.
In general, it is equal to the number of independent displacements
that are possible. This number varies from zero to infinity. The one, two
and three degrees of freedomn systems are shown in figure 1.2. In single
degree of freedom there is only one independent coordinate (x) to
specify the configuration as shown in figure 1.2 (a). Similarly, there are
two (x1, ). and three coordinates (*j, X, and ) for two and three
degrees of freedom systems as shown in figure 1.2 (6) and 12 (c)
ELEMENTS OF VIBRATION

Fig. 1.3. Infinite degree of freedomn.

respectively. A cantilever beam as shown in ligure 1.3 has infinite

degree of freedom. J
Simple Harmonic Motion. l'he motion of a body to and fro about
a fixed point is called simple harmone metion, The motion is periodic
and its acceleration is always directed tow:ards the mean
position and
is proportional to its distance from mean tn. The motion of a
simple pendulumn as shown in figure 1.l is sinye harmonic in nature.
Let a body having simple harmonic motion Is represented by the
equation
r=A sin ot ...1.5.1)
Y = Ao) cOs ot ...1.5.2)
Ao sin ot

..(1.5.3)
where x, x and x represent the displacement, velocity and acceleration
of the body respetvev.
Damping. It is the resistance to the motion of avibrating body.
The vibrations associated with this resistance are known as damped
vibrations.
Phase difference. Suppose there are two vectors x and x)
having frequencies o) rad/sec each. The vibrating motions can be ex
pressed as
X=A, sin ot
xy =A, sin (t + 0) ..(1.5.4)
In the above equation the term ois known as the phase difference.
Resonance. When the frequeney of external excitation is equal to
the natural frequency of a vibrating body, the amplitude of vibration
becomes excessively large. This concept is known as resonance.
Mechanical systems. The systems consisting of mass, stiffness
and damping are known as mechanical systems.
Continuous and Discrete Systems. Most of the mechanical
systems include eiastic members which have infinite number of degree
of freedom. Such systems are called continuous systems. Continuous
systems are also known as distributed systems. Cantilever, simply
supported beam etc. are the examples of such systems.
 MECHANICAL VIBRATIONS

Systems with finite number of degrees of freedom are called

discrete or lumped systems.
1.6. PARTS OF A VIBRATING SYSTEM

A vibratory system basically consists of three

elements, namely
is exchange
the mass, the spring and damper. In a vibrating body there in the
of energy from one form to another. Energv is stored by masS
of potential
torm of kinetic energy (1/2 mx"), in the spring in the form
of heat
energy (1/2 kx) and dissipated in the damper in the form
enters the
energy which opposes the motion of the system. Energy
excitation. The
system with the application of external force known as
excitation disturbs the mass from its mean position and the mass goes
up and down from the mean position. The kinetic energy is converted
into potential energy and potential energy into kinetic [Link]
the
vibrate.
sequence goes on repeating and the system continues to
same time damping force cx acts on the mass and opposes its motion.
Thus some energy is dissipated in each cycle of vibration due to damp
ing, The free vibrations die out and the system remains at its static
equilibrium position. A basic vibratory system is shown in figure 1.4.

SPRING HC DA MPER

EXCITATION m MASS

Fig. 1.4. Vibrating System.

The equation of motion of such a vibratory system can be written

as

mi + cx +kx = 0 .(1.6.1)
where ct = damping force
kx= spring force
mx = inertia force

1.7. METHODS OF VIBRATION ANALYSIS

There are various methods by means of which we can derive the
equations of motion of a vibratory system. Some of the methods are
discussed here.
ELEMENTS OF VIBRATION

1.8.5. Longitudinal, Transverse and Torsional Vibrations

Figure 1.5 represents a body of mass mcarried on one end of a
weightless spindle, the other end being fixed. If the mass m moves up
and down parallel to the spindle axis, it is said to execute longitudinal
vibrations as shown in figure 1.5 (a).

m
MOTIONtm
TWIST
OF DISC

Fig. 1.5. Vibrations in spindle.

When the particies of the body or shaft move approximately
perpendicular to the axis of the shaft, as shown in figure 1.5 (6), the
vibrations so caused are known as transverse.
If the spindle gets alternately twisted and untwisted on account of
vibratory motion of the suspended d1se, it is called to be undergoing
torsional vibrations as shown in figure 1.5 (c).
1.8.6. Transient Vibration
In ideal systems the free vibrations continue indefinitely as there
is no damping. The amplitude of vibration decays continuously because
of damping (in a real system) and vanishes ultimately. Such vibration
in a real system is called transient vibration.
1.9. PERIODIC AND HARMONIC MOTION
The motion which repeats itself after an equal interval of time is
known as periodic motion. The equal interval is called time period. If
we consider a motion of the type x=Aj sin ot, here o is the natural
frequency and the motion will be repeated after 2r/o tine. The harmonic
motion is one of the form of periodic motion. The harmonic motion is
represented in terms of circular sine and cosine functions. All harmonic
motions are periodic in nature but vice-versa is not always true. In the
equation x =A, sin ol, x is the displacement and A, the amplitude.
dx =A, o cos wt and i =- o»x,
The velocity and aceleration are x dt
 2
Undamped Free Vibrations
2.1.
INTRODUCTION
When the elastic system vibrates
no external force is included, it is because of inherent forces and
called free vibration. If during
vibrations there is no loss of energy due to friction or
known as undamped vibration. Free resistance it is
of external force re easy to vibrations which occur in absence
analyse for
systems; that is a system where only one single degreeis of freedom
describe the motion. Other motions also maycoordinate required to
neglected for analysis. occur; but they can be
A vibratory system having mass
of and elasticity with single degree
freedom is the simplest case to analyse. For example, a single
cylinder engine with a flywheel offers very simple
tion and good results for practical mathematical solu
purpose.
Determination natural frequencies to
of
tial in machine elements. In the present avoid the resonance is essen
chapter
equations of motion is discussed and natural frequenciesdevelopment of
of the systems
are determined. The effects of damping on natural
been neglected. The methods for determining the natural frequencies have
frequency of
the system are discussed and used for certain physical systems. In
the
end, some numerical problems are solved.
2.2. DERIVATION OF DIFFERENTIAL EQUATION
The equations of motion for a single degree of freedom system can
be found by employing many methods, but in this chapter the discus
sion will limit to three methods i.e. Newton's method, Energy method
and Rayleigh's method.
2.2.1. Newton's Method
Spring-mass system in vertical position
Consider a spring-mass system of figure 2.1 constrained to move
in a rectilinear manner along the axis of the spring. Spring of constant
stiffnessk which is fixed at one end carries a mass m at its free end.
The body is displaced from its equilibrium position vertically
downwards. This equilibrium position is called static equilibrium. The
free body diagram of the system is shown in figure 2.2.
(41)
 MECHANICAL VIBPATIONS

4(6+1)

mg
Fig. 2.1. Fig. 2.2.
In equilibrium position, the gravitational pull W, is balanced by a
force of spring, such that
mg = W= kö
where 8 is the static deflection of the spring. Since the mass is displaced
from its equilibrium position by a distance x and then released, so after
time t

Restoring force =W- k(8 +x)

mi = W- k8 kx
=-kx (:. W= kôj
mi +kx=0 ...2.2.1)

where = is the acceleration of mass, m. This is recognised as the

d
equation for simple harmonic motion.
The solution isx =A cos o,t + B sin o,t ...2.2.2)
where A and B are constants which can be found by considering the
initial conditions, and o, is the circular frequency the motion.
Substituting equation (2.2.2) in (2.2.1), one gets
- of(A cos o,t +B sin o,t) + (k/m)(A cos ),t +B sin o,t) = 0
Since (A cos o,t +B sin o,t) 0
- ) +k/m =0
), =Vk/m rad/s
The frequency of vibration, f, = 0,/2r.
...(2.2.3)
f2LV
Vm HZ
Equation (2.2.1 can be obtained by D' Alembert's Principle also
which states that the resultant force acting on a body along with the
inertia force is zero, then the body will be in static equilibrium. Inertia
force act1ng on the body is represented mathematically as
F, =m.f
UNDAMPED FREE VIBRATIONS 43

where m= mass of the body, and

f= linear acceleration of the centre of mass
Assuming that the resultant force acting on the body is F, then the
body will be in static equilibrium if
F+F= o
It is to be mentioned that the inertia force and accelerating force
(m.f) are equal in magnitude but opposite in direction. The inertia force
is an external force acting on the body. If we consider figure 2.1, the
spring force of the body k.x will be acting in the upward direction. The
acceleration of the body is which acts in the downward direction. The
accelerating force is acting downwards and so the inertia force will be
acting in the upward direction. So the body will be in static equilibrium
under the action of these two k.x and mä forces. Mathematically it can
be written
mx + kx =0
The same equation was obtained by Newton's method.
In eqn. (2.2.2), constants A and B can be determined by consider
ing that the displacement x is xo at t= 0 and velocity | is vo at t =0.
Applying these conditions in eqn. (2.2.2), we get
X=0 =A cos 0 +B sin 0, ’ xo=A (at t = 0)
and i=-A ), sin 0, t +B o, cos 0,, t
Uo =-* 0,, .0 + B o, . cos 0, ’ Uo =B.), (at t = 0)
The equation of displacement can be written as
x=to coS ), t + (2.2.3A)
sin o, t

| A= and Bo
Trigonometric Form
of S.H.M.
Equation (2.2.2) could be written in most general form
by assuming A=Ccos , B =C sin
written as
Then the equation (2.2.2) in trigonometric form can be
I=Ccos cos ), t +C sin o sin o, t
=C cos (o,t - )
..(2.2.3B)
as
Equation (2.2.3A) can be written after d1fferentiation,
I=-Io 0, Sin 0, t+ Uo CcOs 0, t

=-Xo Sin ) , - cos , t

 MECHANICAL VIBRATIONS
BCsn tan o
ACcos

0 tan tan

and R'AC(cos +sin' o)

C VB' A'
),,
Eqn. (2.2.3B) can be writteon by substituting the value of Cand o
in it

X . cos ),, . - tan -1Uo ..(2.2.3C)

Similarly, expression for i also can be obtained.

Spring-mass System in Horizontal Position
In the system shown in figure 2.3 a body of mass m is free to move
on a fixed horizontal surface. The mass is supported on frictionless
rollers. The spring of constant stuffiness k is attached to a fixed frame
at one side and to mass m at other side.

k
m

Fig. 2.3. Single degree of freedom systems.

According to Newton's second law
mass × acceleration = resultant force on the mass
mx =- kx

(a) Applied lorce (b) Etfective force

Free body diagram
Fig. 2.4.
mx + kY =0 ...(2.2.4)
This equation is identical to equation (2.2.1) which shows that the
frequency of a given system is same whether it vibrates in a horizontal
or vertical position.
UNDAMPED FREE VIBRATIONS 45

2.2.2. Energy Method

Equation (2.2.4) can also be derived assuming the system to be a
conservative one. In a conservative system the total sum of the energy
is constant. In a vibratory system the energy is partly potential and
partly kinetic. The kinetic energy Tis because of velocity of the mass
and potential energy Vis stored in the spring because of its elastic
deformation. According to conservation law of energy, we know
T+V=constant ..(2.2.5)
Differentiation of the above equation w.r.t. time, will be zero.
.(2.2. 3)

Kinetic and potential energies for system shown in figure 2.1 are
given by
1
T=mi
2
..2.2.7)

..(2.2.8)

So

(max +kxí) = 0
or mi+ kx =0 ...2.2.9)
This is the same equation as obtained by Newton's method.
2.2.3. Rayleigh's Method
In deriving the expression for motion, it is assumed that the
maximum kinetic energy at the mean position is equal to the maximum
potential energy at the extreme position. The motion is assumed to be
simple harmonic, then
x=A sin O, t ...2.2.10)
where x = displacement of the body from mean position after time t.
A= maximum displacement from mean pos:tion to the extreme
position
Differentiating equation (2.2.10) w.r.t., time we ge
= 0, A cos o, t
Maximum velocity at the mean position,

So maximum kinetic energy at mean position

- 1/2 mi' =1/2 moA' .2.2.11)
and maximum potential energy at the extreme position
1
...(2.2.12)
 MECHANICAL VIBRATIONS
Equating equation (2.2.11) and (2.2.12), we get
1

a,=k/m
.(2.2.13)
Equation (2.2.13) is identical to equation (2.2.1) and (2.2.9). These
methods are widely used for the determination of natural frequency of
the system.
2.3. TORSIONAL VIBRATIONS
Suppose a system having a rotor of mass moment of inertia I
connected to a shaft (at its end) of torsional stiffness kr, is twisted by
an angle as shown in figure 2.5

Fig 2.5.
The body is rotated through an angle 9and released, the torsional
vibrations will result. The mass moment of inertia of the shaft about
the axis of rotation is usually negligible compared with l. The free body
diagram of general angular displacement 9is shown in figure 2.6. The
equation of motion is written as
(restoring torque)
1Þ + K,0 =0

Torques are balanced

Fig. 2.6
UNDAMPED FREE VIBRATIONS 47

o0
(2.3 1)

Putting
.(2.32)
The equation (2.3.1) becomes
0+)0=0 ..2.3.3)
This equation is of the same form as equations (2.2.1) and
(2.2.9)
The natural frequency can be determined as

),, =
..(2.3.4)
The torsional stiffness krof shaft can be
of this relation i.e.
determined with the help
T_GO
JTor K,= T_ GJ (From Strength of Materials)
GJ G
IT32
where d = dia. of shaft, l- length of shaft, J= /32 d ..(2.3.5)
2.4. EQUIVALENT STIFFNESS OF SPRING COMBINATIONS
Certain systems have more than one spring. The springs are joined
in series or parallel or both. They can be replaced by a single spring of
the same stiffness as they all show the same stiffness jointly. See
figure 2.7.

m
m

Springs in parallel Springs in series

Fig. 2.7
Springs in parallel
The deflection of individua! spring is equal to the deflection of the
system.
So
...(2.4.1)
where k, =equivalent stiffness of the
system
MECHANICAL VIBRATKN
k, k, =stifhesses of springs
I=deflection of the system
[Link] on the system
Thus equivalent spring stiffness is equal to the
spring stifhesses. surm of individual
Springs in series
The total deflection of the system is equal to the
of individual springs. sum of deflection
Se
X=X t X+ X3 t .....
Force Force Force, Force
k, k .....

or 11l,1 ..2.4.2.)
Thus when springs are connected in series the
equivalent reciprocal of
spring stiffness is equal to the sum of the reciprocals of
individual spring stiffnesses.
2.5. THE COMPOUND PENDULUM
The system which is suspended vertically and. oscillates with a
small amplitude under the action of the force of gravity, is known as
compound pendulum. It is an example of undamped single degree of
freedom system. See figure 2.8.

w Sin

W WCos
Fig. 2.8.
Let W = weight of the rigid body
W
m =

O
= point of suspension
k= radius of gyration about an axis through the centre of gravity G
UNDAMIPED FREE VIBRATIONS
h= distance of point of
suspension from G
I= moment of inertia of the body
about ).
= mk' + mh'
If OG is displaced by an angle 0,
restoring torque T.
T=-hW sin 9
=-mgh sin 0
...(2.5.1)
IfO is small sin8= 0, then equation (2.5.1) is written as
T=- mgh 0 ...(2.5.2)
Inertia torque is given as
=-10 ...(.2.5.3)
Summing up all moments acting on the body
I6 + mghe=0 ...(2.5.4)
The natural frequency o, can be determined as

Also mgh
mk + mh' +h²
and natural frequency in Hz.
...2.5.5)
fa2n +h
Hz
 W

SOLVED EXAMPLES
EXAMPLE 2.1. Determine the natural frequency of the mass m
shown in
placed at one end of a cantillever beam of negligible mnass as
figure 2. 10.

Fig. 2.10.
SoLUTION. The stiffness of beam is given as
k=3EI/
where El is the flexural rigidity of the beam.
undamped free Vibrations is
The general equation of motion for
given as
mx i= 0
equation, we get
Substituting the valve ofk in the above

mx + 3E 0
(), = rad/sec
So 'm

Hz
2 m!
system shown in
EXAMPLE 2.2. Find the natural frequency of the
figure 2. 11.

Fig. 2.11.
S6
MECHANICAL VIBRATIONS
SoLUTION. The deflection at the centre of a bar fixed at both ends
with load Fat the centre is given as
deflection =F/192 EI
stiffness = load/deflection
= 192 EI/I
The general equation for undamped free vibration is written as
mi + kr=0

O, = Vk/m = 192 EI
rad/sec
ml'

192EI Hz
m
VExAMPLE 2.3. Determine the effect of the mass of the spring on the
naturcl frequency of thesystem shown in
figure 2.12. (M.D.U., 94)
SoLUTION. Let x be the displacement
of nmass m and so the velocity will be .
The velocity of spring elenent at a dis
tance y from the fixed end may be written
aswhere l is the total length of spring.
The kinetic energy of spring element
d s written as

Fig. 2.12.
where : heing the mass of spring per unit length.
Tota' .inetic energy of the system

where mass of the spring m, = pl

Potential energy of the system=kx

Total energy of the system - KE. + P.E.
m+m +k= Constant
INDAMPED FREE VIBRATION

Differentiating the above equation with respect to time

kx =0

m m,: +kx = 0
3

k
So rad/sec
m +m,/3

1 k
Hz
m +m,/3
EXAMPLE 2.4. Find the natural frequency of the system shown in
figure2. 13.
Given k, =ky = 1500 N/n, k, =2000 N/m, m =5 kg.

5 kg 5k9 5kg
k3 3
T7T

Free body diagram

Fig. 2.13
SoLUTION. Given m -5kg
Equivalent stiffness in parallc
K-kt ky +k,
= 1500 + 1500 + 2000
= 5000 N/m

5000 =31.62 rad/sec

m 5

1
VI000 = 5.03 Hz
to one end of a
EXAMPLE 2.5. AÁn unknown mass m is attached
Hz. When Ikg mass
sprixg of stiffness k hauing natural frequency of 6system is lowered by
is atlached with m the natural frequency of the
20%. Determine the value of unknown mass m and stiffness k. (P.U..98)

SoLUTION. =6 Hz = 1 ...(1)
 MECHANICAL VIBRATIONS

f=6x
80
H 1
100 2r m+1 (2)

Vk /m
So
Vk/ml
k/m m +1
(1.25)
k/m+1
m= 1.777 kg
Stihess trom equation (1) can be determined as
1
6 Vk/m
2r

(6 x 2r =
m

k=2523.94 N/m

ExAMPLE 2.6. A spring-mass svstem (kË - m) has a natural fre

quency f, Calculate the value of ky another spring which when con
nected to k1 in parallel increases the frequency by 30%.
SoLUTION. fi=k/m
another spring is connected to k, in parallel, so ke =k +k,
130
fa= 100
mË

mË
mË kË+kz
1
1.3
1.69 kË =k +ky
ky = .69 kË
EXAMPLE 2.7. A simple U tube
manometer filled with liquid is shown
in figure 2. 14. Caleulate the frequency
of resulting motion if the minimum
length of amanometer tube is .15 m.
SoLUTION. Let us apply energy
Rattermethod to find the frequency. The liq
uid column is displaced from equi
beok librium position by a distancex. Ifp and
Qablaniten
Conreet Fig. 2.14.
UNDAMPED FREE VIBRATIONS 59

tube
the mass density of liquid and cross section area of the
A are With x as
respectively, then the mass of the liquid column is pAl.
velocity of liquid, the kinetic energy is given as
K.E. = Ani
P.E. =2(p Axglr =2pAgr"
Total energy of the system is constant
pAli +2 pAgr' =C
Differentiating it with respect to time, we get
pAltr +4p Agri = 0
li + 4gx =0

rad/sec
So ), =

144x 9.81 Hz =2.58 Hz

EXAMPLE 2.8.
f21
An electric motor
.15
is supported by six
springs of
Determine the
moment of inertia of the motor is I.
stiffness k each. The
Refer figure 2. 15.
natural frequency of the system.
2
Oone

Fig. 2.15.
given as
SoLUTION. The restoring torque is
displacement
=spring force x
=6 (kbe)b
TÖ =- 6kb'
I8 + 6kb = 0
Ö+ 6kb00
I
 60
MECHANICAL VIBRATIONs
So I rad/sec
ExAMPLK 2.9. Determ1ne the natural frequency of the spring mass
pulley system shown in figure 2.16. (P.U., 89)

FREE BODY
DIAGRAM

Fig. 2.16. Spring-puley-mass system

SoLUTION. The total energy T of the system
T= kinetic energy of the mass m + kinetic energy of pulley M +
potential energy of spring k
constant

From free bodv diagram it is clear that at any moment x = r

Moment of inertia of pulley I =1/2 Mr
Differentiating total energy equation with respect to time, we get
mr 08+TO8 +kr'09= 0
mro+1ë +kr'e =0
(mr +1/2 Mr)8 +kr'9 -0
kr?
0=0
mr²+ M
2
2kr 2k
2m + M Tad/sec
),, =
2mr' + M
EXAMPLE 2. 10. Aci"cular cylinder of mass 4 kg and radius 15 cm.
is connected by a spring of stiffness 4000 Nim as shown in figure 2.17.
It is free to roll on horizontal rough surface without slipping,
determine
the natural frequency. (P.U. 93, P.U., 99)
UNDAMPED FREE VIBRATIONS
61

ww

Fig. 2.17
SoLUrION. Total energy of the system
T= KE. due to translatory motion
+K.E. due to rotary motion + P.E. of spring
1

mr'g 1
22
;mrer'?
2
(. x=re)

T=m'2zkr'e
4 2 =constant
Differentiating T with respect to time, we get
3
0=.2 mr'98 +kr00=0

2 me + kr =0
kr 2R rad/sec
3/2 mr 3m

2x 4000 -411 Hz
3 x4
frequency of the system shown in
EXAMPLE 2.11. Find the natural (P.U. Aero 94)
figure 2. 18.

0x

Fig. 2.18
1
SoLUTION. KE. -1 mr +1e²
2
 62
MECHANICAL VIBRATIONS
From the gecmetry of figure

= 00' × 0

(o0" + o'o") x
x= (r+ b) e (0. being small)

=2

Now, energy is conserved, so

3/4 mr9+ k(r +by is constant, so differentiat1ng on with
respect to time gives
3/4 mr8 +k(r +b)=0

Hence the frequency of vibration is 2

1
4k(r +b)' Hz
3m²
ExAMPLE 2. 12. Find the natural frequency of the system shown in
figure 2. 19.

Don

Fig. 2.19

SoLUTION. Let x, =deflection of spring =R .0

Spring force =kx= k.R.9
X=r.= downward movement of mass m
Total Kinetic energy = K.E. of the mass + K.E. of rotating element

Potential energy of spring=kx,

Total energy=mi+ 1o kn
NDAMPED FREE VIBRATIONS 61

By energy method, we get

1
mx+6xË- constant
Differentiating the above expression w.r.t time, we get
d 1 d
(Contt)

mr 08 +100+kR 90=0
(mr+D Þ+kR0-0
kR'
mr +1 9=0
kR or f, =
kR
(0,
m+I 21 m²+I
;2.13. Find the natural frequency of the system in figure