Cairo University
Faculty of Engineering
MDP410_B6
Mechanical Vibrations
Cairo University - Mechanical Vibrations - Spring 2016 1
Course Overview
• Instructors:
• Dr. Ibrahim Fawzy
• Dr. Mohamed L. Shaltout
• Teaching Assistants:
• Eng. Mostafa Gamal
• Eng. M. Abd El-Hafiz
• Contact:
• Email: mshaltout@[Link]
• Office: Building 14, Second Floor
• Grading (100 Points):
• Assignments (10) - Quizzes (5) - Midterm (15) – Final (70)
Cairo University - Mechanical Vibrations - Spring 2016 2
Course Overview
• References:
• Thompson, W. T., and Dahleh, M. D., “Theory of Vibration with
Applications,” Prentice-Hall, Inc., 5th Ed., 1998.
• Rao, S. S., “Mechanical Vibrations,” Prentice-Hall, Inc., 5th Ed., 2010.
• Inman, D. J., “Engineering Vibrations,” Prentice-Hall, Inc., 3rd Ed.,
2007.
• Objectives:
Students who completes this course should have a clear understanding
of vibrations and modeling of mechanical systems. They will
analyze free and forced vibrations and will develop mathematical
techniques to model and design mechanical systems.
Cairo University - Mechanical Vibrations - Spring 2016 3
Course Overview
• Topics:
1. Introduction and Fundamentals of Vibrations
2. Free vibrations of Single Degree of Freedom Systems
3. Forced vibrations of Single Degree of Freedom Systems
a. Harmonic Force
b. Rotating Unbalance
c. Base Excitation
d. Whirling of Rotating Shafts
4. Free vibrations of Two Degree of Freedom Systems
5. Forced vibrations of Two Degree of Freedom Systems
a. Vibration Absorber
Cairo University - Mechanical Vibrations - Spring 2016 4
Importance of Mechanical Vibration
• Vibrations can cause premature failure of many Mechanical Systems.
• Vibrations are usually due to:
• faulty design,
• poor manufacturing, or
• poor maintenance.
• Whenever the natural frequency of vibration of a machine or structure
coincides with the frequency of the external excitation, there occurs a
phenomenon known as resonance, which leads to excessive deflections
and failure.
Cairo University - Mechanical Vibrations - Spring 2016 5
Importance of Mechanical Vibration
• In turbines, vibrations cause spectacular
mechanical failures that result from blade and
disk vibrations.
• The structures designed to support heavy
centrifugal machines, like pumps and
turbines, or reciprocating machines, like
steam and gas engines and reciprocating
pumps, are also subjected to vibration.
• In all these situations, the structure or
machine component subjected to vibration
can fail because of material fatigue resulting
from the cyclic variation of the induced stress.
Cairo University - Mechanical Vibrations - Spring 2016 6
A Catastrophic Failure of a hydro plant in Siberia
• Before the accident the unit had
swung from 170MW to 600MW
six times against a rated output
of 640MW to satisfy the power
grid demands.
• Every time the load changed, the
machine had to pass through the
so-called ‘unstable zone’ when
vibrations were higher than
normal.
[Online] [Link]
Cairo University - Mechanical Vibrations - Spring 2016 7
Tacoma Narrows Bridge
• Tacoma Narrows bridge during wind-induced vibration. The bridge
opened on July 1, 1940, and collapsed on November 7, 1940.
Cairo University - Mechanical Vibrations - Spring 2016 8
Useful Applications of Mechanical Vibrations
• In spite of its harmful effects, vibration can be utilized profitably in
several consumer and industrial applications.
• For example vibration is put to work in:
• vibratory mobile phones,
• vibratory conveyors and screens,
• vibratory testing of materials,
• vibratory finishing processes,
• Vibration has been found to improve the efficiency of certain machining,
casting, forging, and welding processes.
Cairo University - Mechanical Vibrations - Spring 2016 9
Basic Concepts of Vibration
• Any motion that repeats itself after an interval of
time is called vibration or oscillation.
• A vibratory (oscillatory) 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).
Cairo University - Mechanical Vibrations - Spring 2016 10
Basic Concepts of Vibration
• Number of degrees of freedom of the system is the minimum number
of independent coordinates required to determine completely the
positions of all parts of a system at any instant of time.
Single-degree-of-freedom system
A cantilever beam
(an infinite-number-of-degrees-
of-freedom system).
Two-degree-of-freedom system Three degree-of-freedom system
Cairo University - Mechanical Vibrations - Spring 2016 11
Classification of Vibration
• Free Vibration.
• No external force acts on the system.
• A simple pendulum is an example of free vibration.
• Forced Vibration.
• An external repeating force acts on the system.
• A diesel engine is an example of forced vibration.
• If the frequency of the external force coincides with one of
the natural frequencies of the system, a condition known as
resonance occurs.
Cairo University - Mechanical Vibrations - Spring 2016 12
Classification of Vibration
• Undamped and Damped Vibration.
• If no energy is lost, the vibration is known as undamped vibration.
• If any energy is lost, the vibration is called damped vibration.
Cairo University - Mechanical Vibrations - Spring 2016 13
Classification of Vibration
• 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. Otherwise, the vibration is nonlinear.
a) Coulomb model (without
static friction)
b) Coulomb model +
viscosity (without static
friction)
c) Coulomb model +
viscosity
d) Coulomb model +
viscosity + Stribeck effect
• Knowledge of nonlinear vibration is desirable in dealing with practical
vibratory systems. Cairo University - Mechanical Vibrations - Spring 2016 14
Vibration Analysis Procedure
• Step 1: Mathematical Modeling.
• Step 2: Derivation of Governing Equations.
• Step 3: Solution of the Governing Equations.
• Step 4: Interpretation of the Results.
Cairo University - Mechanical Vibrations - Spring 2016 15
Springs
• Rectilinear Vibration:
• 𝐹 = 𝑘𝑥, where 𝑘 is the spring stiffness (N/m)
1
• 𝑃𝐸 = 𝑘𝑥 2
2
• Torsional Vibration:
• 𝑇 = 𝑘𝑡 𝜃 , where 𝑘𝑡 is the torsional spring
stiffness (N.m/rad)
1
• 𝑃𝐸 = 𝑘𝑡 𝜃 2
2
• Springs connected in Parallel:
• 𝑘𝑒𝑞 = 𝑛𝑖=1 𝑘𝑖
• Springs in Series:
1
• 𝑘𝑒𝑞 = 𝑛
𝑖=1 1/𝑘𝑖 Cairo University - Mechanical Vibrations - Spring 2016 16
Springs
𝐸𝐴 48𝐸𝐼
𝑘= 𝑘= 3
𝑙 𝑙
𝐺𝐽 4𝐸𝐼
𝑘𝑡 = 𝑘=
𝑙 𝑙
3𝐸𝐼 𝐺𝑑4
𝑘= 3 𝑘=
𝑙 64𝑛𝑅3
Cairo University - Mechanical Vibrations - Spring 2016 17
Dampers
• Rectilinear Vibration:
• 𝐹 = 𝑐𝑥, where 𝑐 is the damping
coefficient ([Link]/m)
• Torsional Vibration:
• 𝑇 = 𝑐𝑡 𝜃, where 𝑐𝑡 is the torsional
damper coefficient ([Link]/rad)
• Dampers connected in Parallel:
• 𝑐𝑒𝑞 = 𝑛𝑖=1 𝑐𝑖
• Dampers connected in Series:
1
• 𝑐𝑒𝑞 = 𝑛
𝑖=1 1/𝑐𝑖
Cairo University - Mechanical Vibrations - Spring 2016 18
Masses
• Mass is an invariant property of a rigid body. (Assumed Constant).
• Rectilinear Vibration (mass):
1
• 𝐾𝐸 = 𝑚𝑥 2 , where 𝑚 is the mass in 𝑘𝑔
2
• Torsional Vibration (inertia):
1
• 𝐾𝐸 = 𝐽𝜃 2 , where 𝐽 is the mass moment of inertia in 𝑘𝑔. 𝑚2
2
Cairo University - Mechanical Vibrations - Spring 2016 19
Equivalent Mass and Stiffness
Cairo University - Mechanical Vibrations - Spring 2016 20
Translational and Rotational Masses Coupled Together
Equivalent translational mass.
Equivalent rotational mass.
Cairo University - Mechanical Vibrations - Spring 2016 21
Equivalent Stiffness of Hoisting Drum
• The
Cairo University - Mechanical Vibrations - Spring 2016 22
Damping Constant of Parallel Plates Separated by Viscous Fluid
• According to Newton’s law of viscous flow
• The shear or resisting force (F):
• By expressing F as
• The damping constant c
can be found as
Cairo University - Mechanical Vibrations - Spring 2016 23
