Lectures notes

On
Mechanical Vibration
MODULE 1
 Single Degree of Freedom

Vibration System

BASIC CONSEPT OF VIBRATION / WHAT IS VIBRATION

When Body disposed by the application of external force, the internal force in the form of
elastic energy are present in the body. This force try to bring the body to its original position. At
equilibrium, the entire Elastic Energy converted into Kinetic Energy and the body move in the
opposite direction and the Process repeats -:

So, any motion which repeats itself after

an interval of time is called Vibration. Eg-
Simple Pendulum. (Shown in Figure)

Reasons of Vibration: -
1. Unbalanced Force in the Machine: - Force produced within the machine.
2. Dry Friction between matins Surfaces: - This produces a self-emitted vibration.
3. External Reaction: - The reaction may be periodic, random, etc.
4. Earthquake: - Responsible for failure of building/dams etc.
5. Wind: - It may Cause vibration of transmission and telephones lines under certain
condition.

Definitions: -
1. Periodic motion: - A motion which repeats itself after equal intervals of time.
2. Time Period: - Time taken to complete one cycle.
3. Frequency: - No. of Cycles/units.
4. Simple Harmonic Motion: - A periodic of particles whose acceleration is always directed
towards the mean position.
5. Amplitude of motion: - Maximum displacement of vibration body from mean position.
6. Free Vibrations: - Vibration of a system because of its own elastic property without any
external exiting force acting on it.
 7. Fixed Vibrations: - The vibration the system executes under the reaction of an external
periodic force the frequency of vibration is come to that of reaction.
8. Natural Frequency: - Frequency of free vibration of the System. It is constant for a given
system
9. Resonance: - Vibration of a system in which the frequency of External force is equal to
the Natural frequency of
10. Damping: - Resistance to the motion of the vibration body.
11. Degree of Freedom: - Number of independent coordinates required to specify
completely the configuration of the system at any instant.

Few examples of single degree of freedom system have

Examples: -

Shown in fig. 2 and fig. 3 depicts few examples of two degree of freedom system are

Fig.3 examples of two Degree of Freedom System

Similarly, a body in space has six DOF (three transitional and three rational), as shown in fig.5
and a both to suspects has an infinite no of degrees of freedom (shown in fig.6)

Derivation of different equation (fig.7)

Considers a Spring mass system fig.7 constrained to move in a rectilinear manner along to the
longitudinal axis
Let m = mass of the block attached to the spring
R= Spring stiffness
Sign convention
Downward =+ve
Upward= -ve

 At any instant let the mass occupy any displaced position

Let x = displacement of mass from equilibrium position

Considering displacement x to be the +ve in downward direction and-ve in upward
direction for an initial infinitesimal/ displacement of AST , prior to x

displacement in the equilibrium position the force acting on the mass are
(i) ms = vertically downward
(ii) [Link]= spring force vertically upward
For equilibrium
[Link] (i)
and after a displacement of x
total springs force= [Link] + x
and the force acting on the from newton II law of motion
mx = ms- [Link]+x
=[Link]-kx
=ms-ms-kx (from eq.1)
Mx + kx=0(ii equation)
Solution of different equation: -

We have the differential equation for the spring mass system =mx+kx=0
It is an equation of simple harmonic equation
Now from equation: - we have
x+(k/m)x=0(equation 3)
let k/m=wn2
so, equation (3) may be Written as

x+wn2x=0(equation 4) The standard solution for this

differential equa. Written as
x= Asinwnt + Bcoswnt(eq.5)
where A and b are constants whose value can be obtained from initial conditions
x=x0, at t=0
x=0, at t=0 (equation no.6)
 Differtiants equation (5)
x= Awncoswnt – Bwnsinwnt (eq 7)

substituting the initial condition in (eq-5) and (eq-7)

x 0= 0 + B
0= Awn - 0
given
A=0 (eq 8)
B=x0

Substituting the value of constants, we have

X=x0 coswnt (equa. -9)

Equation 9 is the final solution for the specified initial condition.

The time period for one complete cycle of 2π rad is

Time period=2π /wn

Natural frequency is the inverse of time period

Solution:-
Examples: -

1. A light contilover of length l has a mass m fixed active free and find the frequency of
natural vibration in the vertical plane
Solution; -

The deflection of the free end of the contilover

Where E= module of plasticity

I = MI of the section of beam about its neutral axis

Now, stiffness =
And circular Frequency wn= √(k/m)

Example2. Find the natural frequency Sys in shown Fig.

Deflection at the center of the Bram fixed at both ends and central I and W is

Ast= Wl3/192EI

And stiffness = k= load/depletion = W/Wl3/192EI

K= 192EI/ L3

General equation for undampered free vibration is

mx+ kx=0

and Wn=√(k/m)= √192EI/ml3 rad/sec

so, Natural Frequency fn= 1/2π√(192EI /ml3 )

3. Find The natural Frequency of the system shown in Fig.

Given= K1=k2 =1500N/m k3=2000N /m M=5 kg

The equivalent stiffness for springs in parallel
Ke=k1+k2+k3
1500+1500+2000= 500Nn/m
So, wn=√ke/m = √5000/5= 31.62 rad/sac
Fn= 1/2n√1000= 5.03 hz

Torsional Vibration: -
Considering a rotor of mass moment of inertia of J connected to a shaft torsional stiffness k7 (As
shown in fig. II) when the rotor is displaced in an angular manner, it executes torsional vibration
-
It is natural frequency can be obtained in the following manner:

At any instance, the Motor occupies the position O with reference to equilibrium position the
torque acts on the motor in= KtQ

-ve Sign indicates the torque acts on the rotor in the opposite direction to that of twist.
JQ= -KtQ (i)
Or JQ + KtQ =0
OR= Q+(K7/J)Q= 0 (ii)
Substituting Wn2 = Kt/J (iii)
So, equation (2) becomes
Q+Wn2 Q=0 (iv)
Natural frequency of vibration of this System Can be obtained from the equation
Wn= √kt/J (v)

So, fn=1/2π√kt/J

4. Calculate the natural frequency of vibration of torsional pendulum with following

dimension:
Length of the Rod, l= 1 mtr
Diameter of rod, d= 5mm
Diameter of motor, D= 0.2 m
Mass of motor, M= 2Kg

The modules of rigidity for the material of rod may be assumed tose 0.88×1011 N/m2

Solution: -
We have the mass moment of inertia J= ½ mr2
= J= ½ M (D/2)2 = ½ ×2×(0.1)2 =0.01kg m2
=0.01 kg m2

Now, using the relation

T/Ip =GQ/ l

Or transitional stiffness kg = T/Q= [Link]/l

So, kg = (0.83×1011× π/32× (0.005)4)/1= 5.89 Nm/rad

So, wn= √k7/J= √5.09/0.01= 22.6 rad/sac

Fn= 22.6/2 π= 3.59 hz

Energy Method: -
Free vibration of system involves the cyclic interchange of KE and PE. In undamped free
vibration system, no energy is dissipated or removed from the system. The KE, T is stored in the
mass by virtue of its velocity and potential energy U is stored in the for of strain energy is plastic
deformation. As the total energy in the system is constant the principal of conservation of
mechanical energy is conserved, the sum of RE and PE is constant and its rate of changed in
Zero.
The principal can be expressed as
T+U= Constant
d/dt(T+U) =0

For the system

For the system shown in figure

T=1/2mx2
U= 1/2 kx2

And wn= √k/m

Natural frequency = fn =1/2π √k/m

Example no. 1
Find the rational frequency of the system shown in fig.
Example 2. Find the natural frequency of the shown in the fig. Take k= 2×165N/M, M= 20 kg
Solution: -
Assignment 1
1.

A circular cylinder of radius r and mass m is connected by a spring of stiffness k on an inclined

plane if it's free to roll on the side of the page with without slipping determine the natural
frequency

2.

Find the natural frequency of the system if m= 10 kg, k=1000N/M

3.
Determine the natural frequency of the Mass, m =15 kg
K1= 8×103N/M
K2= 6×103N/M

FREE DAMPED VIBRATION

In many practical systems, the vibrational energy is gradually converted to heat or sound. Due
to the reduction in the energy, the response, such as the displacement of the system, gradually
decreases. The mechanism by which the vibrational energy is gradually converted into heat or
sound is known as damping. Although the amount of energy converted into heat or sound is
relatively small, the consideration of damping becomes important for an accurate prediction of
the vibration response of a system. A damper is assumed to have neither mass nor elasticity,
and damping force exists only if there is relative velocity between the two ends of the damper.
It is difficult to determine the causes of damping in practical systems. Hence damping is
modeled as one or more of the following types.

Types of Damping
1. Viscous damping
2. Coulomb damping
3. Structural damping
4. Slip or interfacial damping
1. Viscous damping
Viscous damping is the most commonly used damping mechanism in vibration analysis. When
mechanical systems vibrate in a fluid medium such as air, gas, water, or oil, the resistance
offered by the fluid to the moving body causes energy to be dissipated. In this case, the amount
of dissipated energy depends on many factors, such as the size and shape of the vibrating body,
the viscosity of the fluid, the frequency of vibration, and the velocity of the vibrating body. In
viscous damping, the damping force is proportional to the velocity of the vibrating body. Typical
examples of viscous damping include (1) fluid film between sliding surfaces, (2) fluid flow
around a piston in a cylinder, (3) fluid flow through an orifice, and (4) fluid film around a journal
in a bearing.

2. Coulomb damping
Here the damping force is constant in magnitude but opposite in direction to that of the motion
of the vibrating body. It is caused by friction between rubbing surfaces that either are dry or
have insufficient lubrication.

3. Structural damping
When a material is deformed, energy is absorbed and dissipated by the material. The effect is
due to friction between the internal planes, which slip or slide as the deformations take place.
When a body having material, damping is subjected to vibration, the stress-strain diagram
shows a hysteresis loop. The area of this loop denotes the energy lost per unit volume of the
body per cycle due to damping

4. Slip or interfacial damping

Microscopic slip occurs on the interfaces of machine elements in contact under fluctuating
loads. The amount of damping depends upon the material combination, surface roughness at
interface, contact pressure and the amplitude of vibration.
 Differential equations of free damped vibrations

In the study of vibration, the process of energy

dissipation is the generally referred to as damping. The most common phenomenon of energy
dissipation elements visa damper, also called dashpot. Viscous damping force is proportional to
the velocity of the mass and acts in the direction opposite the velocity of the mass. It can be
expressed as
F= cx (i)
Where c=damping coefficient of viscous damping
The free body diagram of the system can be represented as

Applying Newton second law

mx=-k(A+x) + mg -cx
mx = -kA -kx +mg -cx
=-ka-cx
Mx + cx + Kx =0 (ii)
Or x + (c/m) x + (k/m) x=0 (iii)
Eq.3
Is a differential Equation of motion for free vibration Damped spring, mass system Assuming a
solution in the form of x(t) = cest to obtain the aceclititary equation.
Equation 4.

The solution of (equation .5) takes one of three forms Depending on the whether the Quantity
[(c/2m)2-k/m] is zero positive or negative
If (c/2m)2-k/m= 0
We have, c/2m= √r/m= wn
C= 2mWn

In which case we have repeated roots

S1 = S2=-c/2m and the solution is

Xcf= (A+B) e-(c/2m) t (vii)

In this particular case the damping
constant or coefficient is called critical damping constant denoted by
Ce = 2mWn (viii)
And (eq - v)

Where wn = √k/m, circular frequency of the corresponding undamped system and

(x)

And z= damping factor

Case (1)
When z<1 both the roots in eq. 9 are imaginary and given by

And the solution of motion is

Where, Wd= damped circular frequency (which is always less than Wn)

0 = Phase angle of damped oscillation

The Function is a harmonic Function Whose, aptitude decease potentially with time. The
General form of motion is shown in the figure and the system is said to be underdamped.

Case (2)

If the damping content is equal to critical damping constant and the system is called
critically damped.
The displacement equation (vii)may be written as
X(t) =(A+Bt) e-wnt (xiii)
The solution to the above equation (xiii)is the product of a linear function of time and decaying
exponentials.

Case (3)

If , the system is called overdamped. Here both the roots are real and given by

Since < it can be seen that

are negative So, the displacement is sum of decaying exponentials given by

The motion will be non-oscillating and shown in fig.

Example-1

A damped spring mass, m=12kg, k=12n/mm and c=0.3Ns/mm. obtain the equation of
displacement of mass.

Solution –
The Natural frequency of undamped system is
Wn= √k/m= √12×1000/2= 31.62rod/sac

Critical damping constant = E=2mWn

=2×12×31.62=758.95NS/M or
0.759NS/mm
And damping for z=c/cc=0.3/0.759=0.395
As the system is undamped(∴z<1)
The damped natural frequency
{√1-(0.395)2}31.62 = 29.05 rad/s.

And zwn = 0.395 × 31.62= 11.47

Equation of displacement

Example-2
A single dof viscously damped system has a spring stiffness 6000n/m, critical damping can start
of 0.3Ns/m and a damping ratio of 0.3. f the system is given an initial velocity of 1m/s
determine the mm displacement of the system.

Solution – the natural frequency of the system wn =√v/m

We have
a= 0.3 NS/mm =300NS/M= 2mwn
2m √v/m= 2√6000m
= Y 300 = 2√6000m= Y m = 3.75 kg
Wn= √6000/3.75= 40 rad/s
Damping into Z = W/Wn =0.3
Or w×0.3= 0.3×0.3= 0.09NS/MM
=900 NS/M
Assuming x0=0 and x6= 1M/S the general equation for statement is

For maxm displacement (xmax) wnt = π/2 and sin√1-z2wnt=1

Xmax = e-0.3×( π/2)1/40√1-0.32 e1= 0.01636m

Logarithmic Decrement
The logarithmic decrement represents the rate of at which the amplitude of a Damped
vibration decreases if it is defined as the ratio of any two successive amplitude on the same side
of the mean life.
In the other words we can say it is defined as a natural logarithm of the ratio of any two
successive amplitude. The displacement of underdamped system is a sinusoidal oscillation with
decaying amplitude as shown in the figure.

The ratio of successful amplitude is

Xi/xi+1= Xe-2wnti/xe-2wn(ti+πd) =ezwnπd =constant} (1)

so, Xi/xi+1 =ezwnπd} (2)
Now substituting πd =
2π/wn√1-z2} in eq 12
Xi/xi+1= ezwnπd 2π/wn√1-z2= E(2πz/√1-z2)
S=2πz/√1-z2 = 2πz} (3)
= If z is small then s = 2πz
Since 1-z2 = 1
From eq (3) we have
S=2πz/√1-z2
S=2πz/√1-z2
Or z = s√1-z2
Z2 = s2. (1-z2)/(2π)2
(2π)2. z2 = s2-s2z2
(2π)2. z2 + s2z2=s2
Z2[((2π)2 + s2] = s2
Z= s/√(2π)2 + s2
Also, Z=s/2π} (for small damping eq-5)

Logarithmic decrement can also be calculated from the ratio of the amplitude of several cycle
Apart.
Thus, if xn is the cycle of n cycles after x0 then
= x0/ xn = x0/ x1, x1/ x2, x2/ x3 …xn-1/ xn
(Xy/ xy+1)
Natural frequency of the ratio in x0/ xn = n/n (Xy/ xy+1)
= x = (x0/ xn) = n. s} (6)

Or s= 1/n en(x0/ xn)} (7)

So logarithmic decrement s as can be obtained from the amplitude loss occurring over several
cycle.
n= 1/s en(x0/ xn)= √1-z2/ 2πz en (x0/ xn) } (8)

Equation (8) is used to determine number of cycles required for a given system to reach a
specified reduction in amplitude.

Example-1 A single dof viscous damping system makes 5 complete oscillation. Its amplitude has
to 15% in cycles determine
I) logarithmic development
II) damping ratio
(a) Data given f =5
Cd= 1/5=0.2see
But cd = 2π/wd = wd =2π/0.2 = 31.416 rad/s
Logarithmic decrement s= 1/n en (x0/xn)
S= 1/60 en (0.15) = 0.0451
B) damping ratio (z)
Z= s/√(2π)2+s2 = 0.0451/(2π)2 +0.04512 =0.09177 Ans-

Example 2 – A single dof spring masse damped has a mass of 60 kg and a spring stiffness of
6000 N/M. determine the following
I critical damping coefficient
II the natural frequency when c = 2a/3
III logarithmic decrement
A) M= 60 kg k=6000N/M
Ce = 2mwn = 2m. √k/m = 2√k/m
2√6000×60 = 1200 NS/M
B)
Now c =2. ce/3 = 8000Ns/M
Damped natural frequency
Wd= wn√1-z2 2√k/m √1-(c/ce)2
= √6000/60 √1-(800/1200)2
=7.45 rad/see
Logarithmic decrement =
S= 2πz/ √1-z2 = 2π (2/3) /√2π -(2/3)2
= 5.1698 Ans

Question 1
A damper offer resistance of 0.05N at constant velocity 0.04 M/S . The damper is used with K =
9N/M and M determine the damping and frequency of the system of the mass is 0.1 kg we
have damping force = cx
X= 0.04m/s f=0.05N
C= f/x
0.05/0.04= 1.25 Ns/m
a=2√k/m =2×√9×0.1= 1.897 Ns/m
damping factor z = c/a = 1.25/1.897 = 0.658
so the system is under damped
wd = wn √1-z2 = √k/m √1- 0.6582
√9/0.1 . √1- 0.6582

Q.2 A vibrating system is defined by the following parameters m= 3 kg , k= 100N/m

C= 3Ns/m
Determine the (a)damping factor (b) natural frequency, (c) logarithmic decrement, (d) ratio of
two consecutive amplitude (e) number of cycles after the which the original amplitude is
reduced to 20%

Different type of damping

The damping is a physical system may be one of the several types
1. Viscous damping: -
Angle t is one of the most important type of damping and occurs for small velocities in
lubricated sliding surfaces dashpots with small clearance. the amount of damping
resistance will depend upon the relative velocity and upon the parameters of the damping
system
 One of the reasons for so much importance of this type of damping is that it affords on
easy analysis of system by virtue of the fact that differential equation for the system
become linear with this type of damping
2. Dry friction or coulomb damping: - this type of damping occurs when two machinery parts
rub against each other dry or unlubricated. the damping resistance in this case is practically
against and its independent of the rubbing velocity.
3. Solid or structural damping: - The type of damping is due to the internal friction of the
molecules the stress strain diagram for a vibrating body is not a straight line but forms a
hysteresis loop the area of which represents dissipated due to molecular friction cycle per
unit volume the size of the loop depends upon the material of the vibrating body,
frequency and amount of dynamic stress.
4. Slip or interfacial damping – energy of vibration is dissipated by microscopic slip under on
the interfaces of the m/c
Parts in contact under fluctuating floods. microscopic slip also occurs under on the
interfaces of the m/c element forming various type of joints the amount of damping
depends amongst other thing upon the surface roughness of the matting parts the contact
pressure and amplitude of vibration. angle t is a nonlinear type of damping.

Equation of free Damped single dot system

Solution of equation

Solution of the equation

S1,2 = (-c/2m) + √(c/2m)2- k/m
Most general form of equation
X= c1es1t + c2es2t
Where c1 and c2 are two arbitrary constants to be determined from the initial condition
(i) Over damped system (zy1)
S1 = [-z + √z2 -1 ]wn
S2 = [-z - √z2 -1 ]wn
X= c1e [-z + √z2 -1 ]wnt + c2e [-z + √z2 -1 ]wnt

2. Critically damped system (z=1)

Roots s1 =s2= -wn
And equation [c1+ c2t]e-wnt
3. Under damped system (z<1)
-zwnt
X=xe sin (wdt+ 0)

Assignment 7
The mass of a spring mass dash pot system is given an initial velocity (from the equilibrium
position) where awn and wn is the undamped natural frequency of the system find the
equation of motion the system for cases when
Z=2
Z=1
Z=0.2

Assignment 8
The dice of a torsional pendulum has a moment of inertia of books cx2 and is immersed in the
viscous fluid the brass shaft attached it of 10cm diameter and 40 cm long when the pendulum is
vibrating it is observed amplitudes on the same side of the rest position for the successive
cycles 9,6,4 degree. Determine
Logarithmic decrement
Damping torque at unit velocity
Periodic time of vibration

Forced vibration of single degree of freedom system

In free vibration system a system once distributed from its equilibrium position executes
vibration because of its elastic properties the system will come to rest depending upon its
damping characteristics
In case of forced vibration there is an impressed force on the system keeps it vibrating
Example
(a) Air compressors
(b) Internal combustion engine
(c) Machine tools and various other machineries

Forced vibration with constant harmonic excitations

In forced vibration response of the system consist of two points
1. Transient and the system will vibrate with damped frequency
2. Steady state and the system will vibrate with the frequency at reaction

For newton second law :

Fo sinwt- cx-kx-mx =0
= cx+kx+mx = fo sinwt } (1)
Eq(1) is a linear , second order differential equation and the solution has two parts
 Complementary function (transient post will disappear)
 Particular integral
For complementary solution mx-cx-kx=0
 The particular steady has state harmonic oscillation having a frequency equal to
equation and the displacement vector sector loss the force vector by some angle


Example 1
A damped natural frequency system as obtained from a free vibration test is 9s hz .
during the forced vibration test with constant equitation force on the same system
mass m amplitude of vibration is take 9.6 hz. find the damping factor system and its
natural frequency
Example 2
Consider spring damped spring system with k = 4000N/M, m=10 kg and c = 40 Nm/s .
find the steady state and total response of the system under the harmonic force f=
200sinwt. n for initial conditions x= 0.1 m and x=0 at k =0
Solution



Example -3
Find the natural response of a single dof system with m =10 kg, c =50 N.s/m, k=
2000N/m under the action of harmonic force f= For sinwt with Fo = 200 n
And 31.416 rad/s. The Initial condition may be assumed as x= 0.0 m and 5m/s at t =0
From the given data wn = √k/m = 14.142 rad/s

Steady state amplitude

Total response of the system is
X= xe + xp

Differentiating equation (1)

Apply initial conditions we have

The total response

Example 4
Find out the frequency ratio for which amplitude in forced vibration will be maximum.
also determine the peak amplitude and the corresponding phase angle.

Forced vibration with rotating and reciprocating unbalance

All rotating machinery parts like electric motor, turbine etc. have some amount of a
balance left in them after correcting their unbalance on procession balancing m/c let
m0 = an equivalent mass rotating with its center of gravity ‘e’ from axis of rotation. then
the final unbalance is measured in the terms of the equivalent mass m0 rotating it with
its center of gravity at a distance ‘e’ from the axis of rotation the centrifugal force
generated because of the rotation of the body is proportional to the square of the
frequency of rotation. this force is mass m value of the sinusoidal excitation in any
direction.

Consider an elastically supported m/c rotating at ‘w’ rad/s

Let the unbalance mass m have an eccentricity ‘e’
Let m = total mass of the m/c including m0
R = spring stiffness
G = damping coefficient
Let mass m 0 makes the angle wt with the reference axis at any instant
The equation of motion in vertical axis is

Comparing eq (1) with that of the equation of the motion of a forced vibration of single
dof system
Fo is replaced by m0 ew2
Therefore, the steady state amplitude is given by

In a dimensionless form

Phase lag

At low speed the confidential exciting force m0 ew2 is small and therefore the response
starts from the zero
At resonance w/wn = 1
And
(Dimensions amplitude vs frequency ratio plot)

Vibration analysis of reciprocating mass

Let m0 = equal part of reciprocating part
M= total mass of engine including the reciprocating mass
E=crank length
L = length of connecting rod
The inertia force due to the reciprocating mass is approximately = m0ew2{sinwt + (e/l)
sin2wt}

If ‘e’ is small as compared to l the second harmonic neglected and the exciting force
becomes equal to m0ew2 sinwt and is same in case of rotating unbalanced mass
therefore for small ’e’ came vibration analysis is followed in case of reciprocating
unbalanced mass.
Example (1)
A system of beam supports a motor of mass 1200 kg. The motor has an unbalanced
mass of 1 kg located at 6cm radius. Lt is known that resonance occurs at 2210rpm what
amplitude of vibration can be repeated at motor separating of 1410rpmof damping
factor is 0.1 and 0 respectively.

We have w/wn = 1440 / 2210 = 0.652

M0/m = 1/1200
E=0.06 m
Z = 0.1
Using the relation
If z=0

Example (2) A single cylinder vertical petrol engine of total mass 320 kg is mounted
upon a steel chassis frame and cases is a vertical static deflection of 0.2 em. The
respirating parts of the engine have a mass of 24 KG and move through a vertical stroke
of 15 cm with SHM. A dashpot is provided the damping resistance of which is directly
proportional to the velocity and amounts to 490 N at 0.3N/S determine
(a) The speed of driving shaft at which resonance will occur
(b) Amplitude of steady state found vibration when the driving shaft of the engine
rotates at 480rpm
Let m = 320 kg
Ast = 0.02m
M0 = 24 kg

resonance speed =
 Forced vibration due to base excitation
In most of the vibrations related problems a system is being excited by motion of the
support, for example a vehicle is travelling on a wavy road, an engine mounted on a
vibrating system etc.
In this case of support is considered to be excited by a regular sinusoidal motion
Y= y sinwt – (1)
Considering a spring mass damper system, the mass is attached with the support by
means of a spring mass stiffness k. A damper of damping coefficient c.

Absolute amplitude

Let x = absolute amplitude of mass m

 Equation of the motion may be written as

We have y=y sinwt

Or y = wy coswt
Substituting the value of eq (2)

Where d =

Eq (3) is same as that of the equation of forced vibration with harmonic equitation
Mx + cx+ kx = Fo sinwt
There fore the study state of the solution of eq(3) is

Where x = steady state amplitude

In the motionless form

Comparing eq (1) and (5) it can be seen that the motion of mass m lags that of the support

through as angle
Therefore the angle of lags

Eq (5) (6) and (8) completely define mass of m because of the mass equitation
Relative amplitude
Let x = relative motion of mass m wrt the support the z = x-y
Or x = y+z
We have the equation of mass for an amplitude case is

The force is equated by regular sinusoidal equation

Y=y sinwt
So Y=wy coswt
Y= w2ysinwt
Substituting the value of x in eq(9)

Eq 2 is the same of that of equation of forced vibration with rotating unbalance

And therefore, the solution in dimensionless form

Example (3)
The support of a spring mass system is vibrating with an amplitude of 5mm and a frequency of
1150 cycle / min , determine the amplitude of vibration of mass what amplitude will races it if a
damping factor of 0.2 is included in the system ?

Given date :-
Mass m =0.9kg , y= 5mm , k= 196N/m

The equation for Base for a equitation for a absolute amplitude

Observation from the x/(moe/m) vs (w/wn) plot

All the curves begin at zero amplitude
At resonance, the amplitude of vibration is given by x/(moe/m) = 1/2z which indicates that
damping factor plays important role in controlling the vibration amplitude at resonance
3 At very high speeds x/(moe/m) tends to unity and damping the negligible effect for 0< z<
1/√2 the peak occurs to the right of the resonance value of w/wn = 1
The differential equation of motion is
Mx + Cx + kx = Fo sinwt (1)

Vibration, floatation and transmissibility

Most of the machines when mounted or instant on the foundation cause undesirable vibration
because of unbalanced force set up using their running the vibration of force amplitude may
damped the structure on which machine is mounted example of these undesirable vibration
causes are –
Interior force developed in reciprocating engine unbalanced force produced in any rotating m/c
etc.
the effectiveness is a rotation may be measured in term of the ratio of force on motion
transmitted to that in distance.

The first type is called forced illusion and a second one is called motion illusion the laser the
force or motion transmitted the greater is said to be the illusion. for illusion different material
are used such as
Pads of rubber
Flat or cork
Metallic spring etc.
And all these isolating materials are elastic and have damping properties

Force transmissibility
Force transmissibility is defined as the motion of
Force transmitted to the foundation / force impressed on the system
Considering a case where a mass m is supported on the foundation by means of an isolator
having equivalent stiffness and damping coefficient of k and c respectively. the system is Exited
by a force = Fo sinwt

The differential equation of motion is

Mx+cx+kx= Fo sinwt –(1)
Assuming a Particular solution of eq (1)

We have
Substituting the value of x,x,x in eq (1)

Total force acting on the system are

External equitation force
Spring force
Dash pot force
Inertial force

Out of these four forces the spring force kx and dashpot force cwx are two common force
acting on the mass and foundation . therefore, the force transmitted to the foundation is the
vector sum of two these forces
Therefore
From the vector diagram to find the value x and 0 in eq (2) consider a perpendicular triangle
OAB by damping OB to AB
Now

Substituting the value of x in eq (6)

Force transmitted Ftr =

Eq (9) can be represented as a dimension less form transmissibility

The angle through which the transmitted force lags impressed form is
Where d =
And angle o =

Motion transmissibility: -

Motion transmissibility

Phase lag

Typical Isolators used:-

 Coil springs
 Elastometers (rubber and neoprene)
 Coil springs / steal springs: -
These are generally used for fn <6Hz and Ast>77. 5mm
Large coil in diameter is chosen for larger deflection

Pad mounts
Ribbed neoprene mounts are used for small static deflection they can be used in aeries
for a total maximum static deflection of about 4mm. They are generally used for printing
machinery, saws, transformer, vacuum pumps working machinery etc.

General purpose Elastomeric mounts: -

They are used in compression/ shear for static deflection from 2mm to 16 mm
corresponding to natural frequencies from 11hz to 4hz. they are used with great variety
of machines including blower, fans, pumps, blending m/cs diesel engine, motor
generator sets etc.

Example (1)
A 1000 kg machine is mounted on four identical spring of total spring constant k and
having negligible damping.
The machine is subtracted to a harmonic external force of amplitude Fo = 490 N and
frequency 180 rpm. Determine (a)the amplitude of motion of the machine and
maximum force transmitted to foundation because of the unbalanced force when k =
1.96 × 10 6 N/m
(b)the same as in (a) for the case when k= 9.8 × 104

(a) K = 1.96 × 106 n/m m= 1000 kg

Amplitude
Transmitted force

(B) k =9.8 × 104 N/m

Now using the relation

M
Amplitude X = 1.99 mm
Transmitted force

Example 2
A 75 kg machine is mounted on springs of stiffness k = 11.76×105 N/m with an assumed
damping factor of z= 0.20. A 2kg piston within the machine has a reciprocating motion with
a stroke of 0.08 m and a speed of 3000 rpm. assuming the motion of the piston to be
harmonic, determines the amplitude of vibration of the machine and the vibrating force
transmitted to the foundation.
Given data: -
Mass of m/c m = 75kg Spring stiffness k = 11.76 × 105 N/m
Damping factor Z = 0.2
Equivalent unbalanced mass m0 = 2 kg
E = 0.08 /2 = 0.04 m
Speed = 3000 pm
W = 3000 × 2π / 60 =100π rad/see
(w/wn) = 100π/wn
Now wn = √k/m = √11.76 × 105 N/m /75 = 125 rad/see

Now using the relation

Transmitted force
We have
Example 3
A radio of 20 kg mass must be is opted from a machine vibrating with an amplitude of
0.05mm at 500rpm. A set is mounted on four isolators, each having a spring scale of 31400
N/m and damping factor of 392 N.s/m
(a) What is the amplitude of vibration of the radio?
(b) What is the dynamic load on each isolator due to vibration?

Let m = the mass of radio set

K= Equivalent spring stiffness
C= damping coefficient of four isolator
M = 20 kg
K = 4 × 31400 = 125600N/m
C= 4×392 = 1568 Ns/m
Y =y sinwt and y= 0.05 mm

Amplitude of vibration of radio set

x/y =

x/0.05 =
= y [x = 0.069mm] Ans
The dynamic load on the isolator due to vibration can be done by find the relative z
amplitude and then

Now using the relation

Now Fdyn =

So, on the load on each Isolator = 3.77/4 = 0.94N

Vibration measuring instruments

The instruments used to measure any of the vibration related phenomenon that is
displacement velocity or acceleration of a vibrating system are referred to as vibration
measuring instruments.
The basic elements of most of the vibration measuring instrument is the seismic unit shown
in the figure.
It consists of a seismic mass m mounted on a spring K and dashpot C inside the box is then
placed on the vibrating machine or body.
The arrangement is similar to the spring- mass- dashpot system having support. The
displacement to the mass relaxed to the box that is ‘Z’ can be measured by attaching a
pointer to the mass and a scale to the box.
Vibrometer: (displacement measuring instrument)
Vibrometer is used to measure the displacement of a vibrating body
Considering the equation

When the total frequency of the instrument is low in composition to vibrating frequency w
the relative displacement approach as the amplitude vibrating body irrespective of damping
in this instrument
If w/wn >> 1, then eq (1) may be written as

Thus, when w/ wn is large amplitude recorded is approximately equal to the amplitude of

vibrating body in most of the vibrometers damping is kept as small as possible
Vibrometers are therefore known as low natural frequency instrument the average value of
natural frequency wn for vibrometers is about 4Hz .
Example (1)
A vibrometer has a period of free vibration 2 sounds lt is attached too machine with a
vertical harmonic frequency of 1 hz if the vibrometer has an amplitude of 2.5mm related to
the vibrometer frame. what is the amplitude of vibration machines?

Time period z = 2 see z=2.5 mm

W = 1 × 2π = 2 πrad/see
Natural frequency wn = 2π/c = 2π/2 = π rad/see
Z =0,
Now using the relation

Which is the amplitude of vibration of support of m/c in this case

Example (2)
A seismic instrument having natural frequency of 5hz is used to measure the vibration of a
machine operating at 110 rpm the relative displacement of seismic mass as read from the
instruction is 0.02 m. determine the amplitude of vibration of the machine. Nearest
damping.
Data given:
Fn = 5hz
N = 110 rpm
Z=0.02m
Z =0
Now wn = 2π .fn = 10 π rad /see w= 2πn/60 = 11.52 rad/s
For a vibrometer the governing equation is

Neglecting damping we have

Example (3)
A commercial vibrometer having amplitude of vibration of m/c part as 5mm and damping
factor z = 0.2m performs harmonic motion let the difference between mass m and minimum
recorded value is 12mm and the frequency of vibrating points 15 rad/see find out the
natural frequency of vibrometers
Given data
Y=5mm
Z=0.2
Z= 12/2 =6mm
W=15 rad/see
Using the relation

Solving the above equation, we have w/wn = 1.772

So fn = wn/2π = 8.465/2π

Example 4
A vibrometer indicates 1% error in measurement and its natural frequency that can be
measured is 26 hz find the value of damping factor?
Since the reading recorded by vibrometer is z
So, z = 0.01y
Now z/y
Velocity pick ups / velometers
Velocity of the vibrating system can be expressed from the equation
Y=y sinwt - (1)
So, velocity y= wy coswt
Now we have the equation

Comparing eq (6) and eq(8) it can be observed that for a phase difference 0 z gives velocity
of base as long as eq(5) is satisfied and this is possible for large value of (w/w n) also velocity
of the system can be computed by (4)

Acceleration measuring instrument or accelerometer

Accelerometer is used to measure the acceleration of a vibrating body.
L f (w/wn) ≤ z the equation for relative amplitude reduces to

The expression w2 y in the above equation is equal to the acceleration amplitude of a body
vibrating with frequency w and having a displacement amplitude y. so, the amplitude
recorded z under this condition is proportional to the acceleration of a vibrating body as w n
is a constant for the instrument.

Frequency measuring instrument

The frequency measuring device are based on resonance principal. For the frequency less
than about 100Hz reed tachometer is one quite useful. two types of reed tachometer are
generally used
Single reed instrument

The system consists of a cantilever strip held clamp at one and while a mass is attached at
the other end. Free length of strip can be adjusted by mean of screw mechanism since each
length of strip correspond to a different natural frequency so the value of natural frequency
is marked a long length of a reed. the instrument is held finally against a vibrating member
and free length of the strip is altered until at one particular length resonance occur and then
the frequency is then directly read from the strip
The instrument is also known as Fullerton tachometer

Multi reed instrument

The instrument is also called Frahm tachometer L t essentially consist of a earie of

cantilevered reeds carrying small concentrates mass at their tips each reed has a different
natural frequency it is possible to cover a wide frequency range in practice the instrument is
mounted on a vibrating body. the reed has natural frequency matches with the unknown
frequency of the body will undergo resonance and vibrate with larges amplitude the
frequency of the vibrating body can be then found from the known natural frequency of
that reed.