Mechanical Vibrations

(MECE 3210)
Instructor: Dr. Amirhossein Monjazeb, P. Eng.
With special Thanks to Professor Fred Afagh for providing me with his
invaluable lecture notes and for his full support

Winter 2016
Lecture # 01
Some contents, figures, and problems of the presented slides are completely adopted or partially revised from:
Mechanical Vibrations, Fifth Edition, S.S. Rao, Prentice Hall, 2011, ISBN: 978-0-13-212819-3.

A Brief History of Vibrations

Musical instruments and vocal vibrations
Pythagoras (582-507 B.C.) - Monochord

Aristotle (350 B.C.) - Multichord

Pythagoras

Galilei

Zhang Heng (Second Century) - First earthquake measurement device

Galileo Galilei (1564-1642) - Studied the behavior of a simple pendulum

MECE 3210 Mechanical Vibrations

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Monochord

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Pendulum Vibration Process

Potential Energy

1: = 0

Conversion

K. E. = 0

P. E. = . (1 )

Starts swinging to the right

2:

Kinetic Energy

Angular Acceleration

Converted

Kinetic Energy
Potential Energy
Mass m will continue moving towards point 3

Potential Energy

Converted

= (1 cos )

As it crosses point 2, a C.C.W. torque (due to gravity)

starts acting on the mass resulting in deceleration

3: = 0

mg
Mass (m)

Kinetic Energy

Again, gravity torque causes a C.C.W. velocity

MECE 3210 Mechanical Vibrations

Lecture # 01

Why we need to study mechanical vibrations?

In many engineering designs, we need to
eliminate or control mechanical vibrations
In many engineering designs, we need to
create vibrations
To create or eliminate vibrations in
mechanical systems, we must be able to
create mathematical models and analyze
the wanted or unwanted vibration.

MECE 3210 Mechanical Vibrations

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Undesired Mechanical Vibrations

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Undesired Mechanical Vibrations

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Desired Mechanical Vibrations

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Terminology
Mass The quantity of matter in a body regardless of its volume or
of any forces acting on it.
M
(with negligible elasticity and damping)
Stiffness How freely or easily can a mass move during vibration
(a mechanical link with negligible mass and damping)
Damping Absorbs the energy in a vibrating system
(a mechanical link with negligible mass and elasticity)

MECE 3210 Mechanical Vibrations

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Mass-Spring-Damper Model
The amplitude (A) of a vibrating mass (system) defines its
maximum displacement from its equilibrium position

()

()

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Pendulum Vibration Process

Mass/Inertia-Means to store Kinetic Energy

Spring/Elasticity-Means to store Potential Energy

Means by which energy is gradually last

Potential Energy

Conversion

Kinetic Energy

Dissipated energy (if damper)

External source of energy to maintain a steady state

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Mass-Spring-Damper Models

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Mass-Spring Model
1

2
m
mg

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Mass-Spring Model
1

2
m

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Mass-Spring Model
1

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Mass-Spring Model
1

2
m

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Mass-Spring Model
1

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Mass-Spring Model
1

2
m

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Mass-Spring Model
= sin( + )

mg

Maximum Amplitude

()

()
(/)= 2 ()
= 0
Phase (rad)

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Mass-Spring Model
()

= 2. =

2
= 0

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Mass-Spring Model
()

2
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Mass-Spring Model
()

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Vibration and Fugue

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Vibration and Fugue

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Fugue-Modeling
1

2
m

MECE 3210 Mechanical Vibrations

mg

()

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Fugue-Modeling
1

2
m
mg

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Fugue-Modeling
1

2
m

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Fugue-Modeling
1

2
m

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Fugue-Modeling
1

2
m

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Fugue-Modeling
1

2
m

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Fugue-Modeling
1

2
m

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Fugue-Modeling
1

2
m

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Fugue-Modeling
1

2
m

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Fugue-Modeling
1

2
m

MECE 3210 Mechanical Vibrations

mg

()

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Fugue-Modeling
1

2
m

MECE 3210 Mechanical Vibrations

mg

()

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Fugue-Modeling
1
N

MECE 3210 Mechanical Vibrations

2
m

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Mass-Spring-Damper Models
()

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Course Objective and Outcomes

Objective
understand the fundamental concepts of mechanical vibration
Outcomes

analyze free vibration of single degree-of-freedom systems

analyze vibrating systems excited by a harmonic force
design appropriate vibration isolators
analyze forced vibration of systems under general forcing condition
investigate vibration of systems with two-degree-of-freedom
design appropriate dynamic vibration absorbers
analyze systems with many degree-of-freedoms
design dynamic systems having coupled coordinates
use computer tools, such as MATLAB, to design and simulate vibrating systems.

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Prerequisites

ENGR 2020 - STATICS AND DYNAMICS [Min Grade: D]

OR
ENGR 2430 - DYNAMICS [Min Grade: D]
OR
MECE 2430 - DYNAMICS [Min Grade: D]

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Major Topics
Fundamental concepts of vibrations of mechanical systems
free vibrations of single-degree-of-freedom systems
various types of damping and vibration absorption
forced vibrations; vibration measuring instruments
torsional vibrations of shafts
steady-state and transient vibrations
vibrations of multi-degree of freedom systems
vibration isolation
model analysis
vibrations of coupled systems
introduction to non-linear springs and non-linear damping

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Required Course Text

Mechanical Vibrations, Fifth Edition,

S.S. Rao, Prentice Hall, 2011, ISBN:
013-212819-3.

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Reference Books and Information Sources

Engineering Vibration, Third Ed., Daniel J. Inman, Prentice

Hall, 2008, ISBN: 13-9780132281737

Mechanical Vibration, W.J. Palm III, Wiley, 2007, ISBN: 0471- 34555-5
Theory of vibration with application, Fifth Edition, W.T.
Thompson and M. D. Dahleh, Prentice Hall, 1998, ISBN: 013-651068-X

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How to Contact me
My OFFICE HOURS:
Wednesdays

ENG- 1025

2:00 PM to 4:00 PM

You are always welcome to drop by my office whenever I am there and

I have time.

Contact: Only Via Blackboard

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TAs Information
Name

Nadim Arafa

Omar Sadek

Email

Nadim.Arafa@uoit.ca

Omar.Sadek@uoit.ca

Office

TBA

TBA

Office Hours

TBA

TBA

There are twelve weekly tutorial problem sets which are placed in the
corresponding bunker.

Students are encouraged to study the course materials before solving the problems.
The lectures posted on Blackboard may not cover all the material.
It is strongly recommended that students attend every class and tutorial sessions
although attendance will not be taken.
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Final Grade Breakdown

Assignments:

10%

Laboratories:

10%

In class Quizzes:

5% (bonus)

Midterms:

30%

Exam:

50%

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Midterm Exam

Midterm Date:
Friday, March 4, 2016 - 05:10 PM to 06:30 PM

Midterm Location:
Library Portables UL11

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Lab Description
1.Vibration of springmass systems.
2.Free vibration of a singledegreeoffreedom system

3.Free damped vibration

4.Forced damped and undamped vibration
5.Vibration of a twodegreeoffreedom system
Please check your lab schedule on
Blackboard/Contents/Labs
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Computer Experience

MATLAB will be used in solving problems

throughout the course.

Problems solved by MATLAB must be shown
in full with the steps taken.

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Assignments

There are five sets of assigned homework placed in the

corresponding bunker.
There are few problems solved in class, which are related to the
topics covered in the lectures. However, during the semester
additional practice problems will be given to the students to get
prepared for their mid-term and final exams.

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Assignments
There are five sets of assigned homework placed in the
corresponding bunker.
There are few problems solved in class, which are related to
the topics covered in the lectures.
During the semester additional practice problems will be given
to you to get prepared for your mid-term and final exams.
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What to do to Succeed in this course?

Attend the classes on time and regularly.
Do not miss any random quizzes

Use your text book extensively

Find out what exactly has been covered in lectures, which you have missed.
Study the materials given in the lectures thoroughly and continuously
Visit the course web page on the Blackboard regularly to get information
regarding lecture notes, course calendar, solutions to problems, tests, and etc.

Solve a lot of problems from your text book, other references, and any other
sources you can find on the Internet
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