PR8451- Mechanics of Machines

Unit-V – VIBRATION
Dr.M.Sabareeswaran, M.E., Ph.D
Associate Professor,
Department of Mechanical Engineering,
SSM Institute of Engineering & Technology,
Dindigul.
vibratory motion.

When elastic bodies such as a spring, a beam and a shaft are displaced
from the equilibrium position by the application of external forces, and then
released, they execute a vibratory motion.
Types of Vibratory Motion
The following types of vibratory motion are important from the subject point of view :
1. Free or natural vibrations. When no external force acts on the body, after giving it an initial
displacement, then the body is said to be under free or natural vibrations. The frequency of the free
vibrations is called free or natural frequency.
2. Forced vibrations. When the body vibrates under the influence of external force, then the body is
said to be under forced vibrations. The external force applied to the body is a periodic disturbing
force created by unbalance. The vibrations have the same frequency as the applied force.
3. Damped vibrations. When there is a reduction in amplitude over every cycle of vibration, the
motion is said to be damped vibration. This is due to the fact that a certain amount of energy
possessed by the vibrating system is always dissipated in overcoming frictional resistances to the
motion.
Terms Used in Vibratory Motion

1. Period of vibration or time period. It is the time interval after which the motion is
repeated itself. The period of vibration is usually expressed in seconds.
2. Cycle. It is the motion completed during one time period.
3. Frequency. It is the number of cycles described in one second. In S.I. units, the
frequency is expressed in hertz (briefly written as Hz) which is equal to one cycle
per second.
Types of Free Vibrations
1. Longitudinal vibrations. When the particles of the shaft or
disc moves parallel to the axis of the shaft, as shown in Fig.
23.1 (a), then the vibrations are known as longitudinal
vibrations.
In this case, the shaft is elongated and shortened alternately
and thus the tensile and compressive stresses are induced
alternately in the shaft.
2. Transverse vibrations. When the
particles of the shaft or disc move
approximately perpendicular to the axis of
the shaft, as shown in Fig. then the
vibrations are known as transverse
vibrations.
In this case, the shaft is straight and bent
alternately and bending stresses are induced
in the shaft.
3. Torsional vibrations*. When the particles of
the shaft or disc move in a circle about the axis
of the shaft, as shown in Fig.then the vibrations
are known as torsional vibrations.
In this case, the shaft is twisted and untwisted
alternately and the torsional shear stresses are
induced in the shaft.
Simple Harmonic Motion
 
(displacement)
A

M P
𝜔
 
 𝑥 X  𝑥 𝜋
3 
𝜔𝑡
   𝜋 2 2  𝜋
D C
O o
 𝜋 𝜔𝑡 
2  𝑥

B
Terms Used in Simple Harmonic Motion

1. Amplitude. It is the maximum displacement

 3.
Frequency. It is the number of cycles per second and is the
reciprocal of time period, .
In S.I. units, the unit of frequency is
hertz (briefly written as Hz) which
is equal to one cycle per second.
 

Displacement = =
Velocity of the particle =
Acceleration of the particle =
Natural Frequency of Free Longitudinal Vibrations
1. Equilibrium Method

 Equation of Motion is

Stiffness = Force/deflection
Force = Stiffness x Deflection
• 
Equation of motion is

Compare it with the equation of SHM

We know that
2. Energy Method
 In a Conservative system( a system with no damping), the total mechanical energy,
i.e., the sum of the kinetic and potential energy, remains constant.

We have

and
• 
• 
Equation of motion is

Compare it with the equation of SHM

We know that
3. Rayleigh method

In this method, the maximum kinetic energy at the mean position is equal to the
maximum potential energy (or strain energy) at the extreme position. Assuming the
motion executed by the vibration to be simple harmonic, then
• 
Now differentiating the eqn,

Since at the mean position, t= 0, therefore the maximum velocity at the

The maximum potential energy at the extreme position

We know that
Equivalent spring stiffness

•  Springs in parallel
if n springs attached in parallel with stifnesses
Then the equivalent spring stiffness
Equivalent spring stiffness

•  Springs in series
if n springs attached in series with stifnesses
Then the equivalent spring stiffness
(a)Mass is suspended to a spring
• 

Natural frequency
(b)Mass is suspended at the bottom of two springs in series

• 

Springs in series

Natural frequency
(c)Mass is fixed in between two springs
• 

Springs in Parallel

=+=

Natural frequency
For the system as shown below the natural frequency of oscillation is

 
Where
 
Soln:
Let

Spring 2 & Spring 3 are parallel

m
Now the natural frequency of oscillation is

 
Inertia effect of the mass of the spring
 
Let

K
Inertia effect of the mass of the spring
 

Total energy of the system remains constant

K
• 
Equation of motion is

Now the eqn. of motion is

Compare it with the equation of SHM

We know that
Damped vibrations
 
When an elastic body is set in vibratory motion, the vibrations die out
after some time due to internal molecular friction of the mass of the
body and the friction of the medium in which it vibrates.
The diminishing of vibration with time is called damping.
External damping can be increased by using dashpots and dampers.
  𝑠𝑥
 

(upwards)

The differential equation of the second order. Its solution will be of the form

Where A & B are constants

when
.
• 
when
.

Where
 Amplitude   ratio  
Logarithmic decrement
• The ratio of two successive oscillations is constant in an underdamped
system. Natural logarithm of this ratio is called logarithmic decrement
and is denoted by
Important formula
• 
Important formula
• 
Important formula
• 
 
 

 𝜻 = 𝒄 = 𝟎 . 𝟐
𝒄𝒄
   

  N/m/s

 𝜔 𝑑 =24 𝑟𝑎𝑑 / 𝑠
   

 𝛿 =𝟏 . 𝟐𝟖

  𝑥𝑛
( 𝑥 𝑛 +1 ) =3.6
 

N/m/s

,
 Given data:

N= Number of Oscillations=30

(i) Stiffness of the spring

Squaring both sides

N= Number of Oscillations=30

(i) Stiffness of the spring

Squaring both sides

Squaring both sides

N/m/s

N/m/s
 Given data:

Number of springs = 3
Stiffness of each spring = 12 N/mm =
Combined stiffness =
5
8 mm
Forced Vibrations
•  The forcing may be step-input, harmonic or periodic
Step-input forcing
Application of a constant force to the mass of a vibrating system is
known as step-input forcing.
Forced Vibrations
•Harmonic
  forcing
Impressed oscillating force =
Forced Damped Vibrations
•Harmonic
  forcing
Impressed oscillating force =
Forced Damped Vibrations
•Harmonic
  forcing
Amplitude of forced vibration

both numerator and denominator

𝐹𝑜
 
𝑠
¿
𝜔2 2 2

√(
𝑐
1−
𝑠
𝑚 ) +
(𝜔2
𝑛 𝑚
)
Forced Damped Vibrations
 

𝐹𝑜
 
𝑠
𝐴=
2 2
√( 1 − 𝑟 ) + ( 2 𝜁 𝑟 )2
Forced Damped Vibrations
 Magnification factor
It is the ratio of amplitude of forced vibration to the deflection due to the
static force .
   
Forced Damped Vibrations
 Magnification factor
It is the ratio of amplititude of forced vibration to the deflection due to the
static force .
 
When there is no damping

a,
Hence r=1
 Given data:

Hence

Wkt
Amplitude of forced vibration
 
 

At resonance ,
Hence,
 

 
Vibration Isolation
• Vibrations are produced in machines having unbalanced masses.
• These vibrations will be transmitted to the foundation upon which the
machines are installed.
• This is usually undesirable.
• To diminish the transmitted forces, machines are usually mounted on
springs or dampers, or on some other vibration isolating material.
• Then the vibratory forces can reach the foundation only through
these springs, dampers, or the isolating material used.
Transmissibility
Transmissibility is defined as the ratio of the force transmitted (to the
foundation) to the force applied. It is the measure of the effectiveness
of the vibration isolating material.
• As the transmitted force is the
vector sum of the spring force
and the damping force which are
at perpendicular to each other
• 
Wkt
•At  resonance,
Hence,

When no damper is used,