Techniek, ontwerpen en informatica

Vibrations
dr ir P. Blom
September 2015

Content
1. Introduction

2. Free vibration
3. Forced vibration, undamped
4. Forced vibration damped
5. Systems with two degrees of freedom
6. Systems with more than two degrees of freedom
7. Sample exam problems

Required Knowledge
Mechanics
Equilibrium
Shear Force & Moment line
Simple Formulas
Area Moment method
Mathematics
Trigoniometry
Differential equations
Complex numbers
Matrices
Eigen values and Eigen vectors
3

Characteristics

Oscillatory Motion
Linear systems
Free vibration
Natural frequencies
Forced vibration
Resonance
Damping
Degrees of freedom

Harmonic motion

xt x cost

Circular frequency

2 f
Period

frequency
5

Harmonic motion

xt x cost

Velocity of harmonic motion

dx
x x sint
dt
Acceleration of harmonic motion
2

d x
2

x
cos

t
2
dt
2
x t

Why is knowledge of vibrations important?

Langley Researche Center
Langley Research Center part II

Undamped Vibrations
Equation of Motion

10

Undamped Vibrations
Equation of Motion
Equilibrium:

F 0

Fspring m g 0
Fspring k
mg

k
11

Undamped Vibrations
Equation of Motion
Motion:

F m x
Fspring m x
Fspring k x
k x m x
m x k x 0

12

Undamped Vibrations
Continue systems
D.E. for beams

dD

q d2 M
dx
q

2
dM
D d x
dx

d M

d
d x EI EI v M

2
dv
d
x

dx

d 4 v d2 M
EI

q
4
2
dx
dx
13

Undamped Vibrations
Continue systems
D.E. for beams
Relation between displacement and force
d4 v
EI
d x q d x
4
dx

k v F

This is a spring force

y

m v

Fveer m v

m Ad x

d4 v
EI
d x A d x v
4
dx

d2 v
d t2

14

Undamped Vibrations
Continue systems
D.E. for beams
Relation between displacement and force
d4 v
EI
d x A d x v
4
dx
4v
2v
EI 4 d x A d x 2
x
t
4v
2v
EI 4 A 2
x
t
4v
2v
EI 4 A 2 0
Fourth order lineair
x
t
4 v A 2 v

2 0
4
x
EI t

partial differential equation

15

Undamped Vibrations
Continue systems
D.E. for beams
Relation between displacement and force

A 2
d v
cos t
v cos t 0

4
EI
d x
v x , t v x cos t

4 v A 2 v

2 0
4
x
EI t

d v A 2

v x 0
4
dx
EI
4

Ordinary fourth orde

differential equation

General solution
EI
fn C
AL4

16

Undamped Vibrations
Continue systems
General solution

fn C

EI
AL4

17

Complex Numbers Exponential form

Eulers equation
i

e cos i sin
Argand diagram
it

z Ae
A cos t iA sin t
x iy
Complex conjugate of z

z Ae

it

18

it

z Ae
A cos t iAsin t
x iy

z A e it
A cos t iA sin t
x iy

x can be written as:

1
2

1
2

z z

A cos t iA sin t A cos t iA sin t

A cos t
Re A e

i t

19

Some rules for exponential operations:

z1 A1 e

i 1

z2 A2 e

i 1 2

z1 z2 A1 A2 e
z1 A1 i 1 2

e
z2 A2

Multiplication
Division
Powers

i 2

z A1n e i n1
n
1

z2 nn A22 e

22
ii
n
n
20

Problems
1. A harmonic motion has an amplitude of
0.20cm and a period of 0.15s.
Determine the maximum velicity and
accelaration.
x t x cost

x 0.2 cm 0.002 m,

2
x t 0.002 cos
t
0
.
15

2
2
x t 0.002
sin
t
0.15 0.15
2

2
2
xt 0.002
t
cos
0.15
0.15

v 0.002

2
, 0.15 s

2
0.0838 m/s
0.15
2

2
2
a 0.002
3.509 m/s
0.15
21

1.
2. An accelerometer indicates that a
structure is vibrating harmonically at 82
cps with a maximum acceleration of 50g.
Determine amplitude of vibration.
x 2 x

a 2 x

a 50 g 50 9.81 m/s2 450.5 m/s2

2f 2 82 cps 515.22 rad/s

a
450.5 m/s 2
x 2

515.222 rad2 /s 2
1.848 10 3 m
22

1.
2.
3. A harmonic motion has a frequency of
10 cps and its maximum velocity is
4.57 m/s. Determine its amplitude, its
period and its maximum acceleration.
x t v cos2ft

v 4.57 m/s, f 10 cps 10 Hz

x t x d t v cos2ft d t
v

sin2ft
2f

d x
x
v 2f sin2ft
dt

v
4.57
x

2f 2 10
0.0727 m
a v 2f 4.57 2 10
287.1 m/s 2
23

2.
3.
4. Find the sum of two harmonic
motions of equal amplitude but of
slightly different frequencies. Discuss
the beating phenomena that result
from this sum.
x1 t x cos1 t

x cos3 t 12 t

x2 t x cos2 t
x cos1 t t
x cos3 t 12 t

x1 t x2 t x cos3 t 12 t x cos3 t 12 t

x cos3 t cos 12 t sin3 t sin 12 t

x cos3 t cos 12 t sin3 t sin 12 t

2 x cos3 t cos 12 t

25

2.
3.
2 2
x1 t 2 x cos t cos
t
4 400

26

3.
4.
5. Express the complex vector 4+3i in
the exponential form Aei.
Im x

tan
Re x
36.870
1 3
tan

180
4
0.205
1

A Re( x )2 Im x

4 2 32 5

x 4 3i 5 e i 0.205
27

4.
5.
6. Add two complex vectors 2+3i and 4-i,
expressing the result as A .
x1 2 3 i
x2 4 i

Re x1 x2 Re x1 Re x2
24 6

Im x1 x2 Im x1 Im x2

Im
x

tan 1
3 1 2

Re
x

2
A Re( x )2 Im x
18.435
1 2
tan

2
2

2
2 10
180
6
28
x

2
10

0
.
102

0.102
1
2

5.
6.
7. Show that the multiplication of a
vector
by i rotates it by 90.
z A e it A cost iA sint
A Re( x )2 Im x

xi
0i

x 1e

0 2 12 1
1 Im x

tan
Re x

1 i
2

it

z x Ae e
Ae

1 i
2

1 1
tan 1
0 2

t 12 i

A cost 12 iA sint 12

29

6.
7.
8. Determine the sum of two vectors 5ei/6
and 4ei/3 and find the angle between the
resultant and the first vector.
z1 5 e

i 61

5cos 61 i sin 61

52 3 i 52
x z1 z 2
Re x Rez1 Rez2
52 3 2 6.330
Im x Imz1 Imz2
52 2 3 5.964
61

z2 4 e

i 13

4cos 13 i sin 13
2 i2 3

x A e i
2
2
A Re( x ) Im x
6.3302 5.9642 8.697
1 Im x

tan
Re x

5.964
tan
0.24130
1
0.2405 6 0.07386
6.330
1