MCG 4308 Mechanical Vibration Analysis

Lecture 4 1 DOF: Free Undamped Vibrations

1 DOF, free undamped oscillator

Displacement x k

M
Spring Mass

Although a simple model, it represents ALL 1DoF, linear, lumped parameter engineering systems with mass and stiffness See Lecture 1 example on equivalent mass and stiffness See table of equivalent masses/springs of common engineering elements

Equation of Motion (Newton)

y x k Which is best coordinate? x or y?

M
Spring Mass

k ( y my (t ) =(t ) l0 ) l0 = unstretched length my (t ) + ky (t ) = kl0

mx(t ) = kx(t ) mx(t ) + kx(t ) = 0

simpler

Energy Methods
An

alternative way to determine

of motion the natural frequency of a system (often without even having to find the equation of motion first!)

the equation

if the forces or torques acting on the object or mechanical part are difficult to determine

Useful

Potential and Kinetic Energy

The potential energy of mechanical systems V is often stored in springs (remember that for a spring F=-kx) x=0 x0 k

Vspring

1 2 = kx 2

Mass

Spring

The kinetic energy of mechanical systems T is due to the motion of the mass in the system

Ttrans

1 2 = mx 2

Equation of motion from conservation of Energy

For a simple, conservative (i.e. no damper), mass spring system the energy must be conserved: x=0 x k

T +V = constant d or (T + V ) = 0 dt

M
Mass Spring

1 2 d d 1 2 (T + U ) = mx + kx = 0 2 dt dt 2 x (mx + kx ) = 0 Since x cannot be zero for all time mx + kx = 0

Derivation of the solution

Substitute x Cet into= 0 mx + kx = 0 m 2Cet + kCet = 0 m 2 + k = k k = = j = n j m m
2 n =

k Natural Frequency m

x(t ) = = C1en jt and x(t ) C2 en jt x(t ) = C1en jt + C2 en jt

This approach will be used again for more complicated problems

Standard Forms:
Standard form for equation

mx(t ) + kx(t ) = 0
2 (t ) + n x(t ) = x 0 2 where n =

k m

Standard forms for solution

= A sin(nt + ) x(t ) = A1 sin nt + A2 cos nt x(t ) = C1e jnt + C2 e jnt x(t )

Use these

What can we learn from the solution?

We can write the solution: x(t) t

= A sin(nt + ) x(t )
Differentiating:

= n A cos(nt + ) x(t ) =n A sin(nt + + /2) Velocity lags displacement by /2 Amplitude multiplied by n (t ) = n A sin(nt + ) = n x(t ) 2 - 2 x
2 = n A sin(nt + + )

Acceleration lags displacement by

2 Amplitude multiplied by n

Peak Values
Remember, sin and cos always oscillate between +1 and -1. So, we can find the maximum values of displacement, velocity and acceleration. This will be useful later when using Raleighs Method.

max or peak value of: displacement: xmax = A velocity: xmax = n A

2 x acceleration: max = n A

Relationship between Displacement, Velocity,Acceleration

1 0 x

A=1, n=12

-1 0 20 0 v

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.9

-20 0 200 0 -200 0 a

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.9

0.1

0.2

0.3

0.4

0.5 0.6 Time (sec)

0.7

0.8

0.9

Note how the relative magnitude increases for wn>1

Initial Conditions
If a system is vibrating then we must assume that something must have (in the past) transferred energy into to the system and caused it to move. For example the mass could have been: moved a distance x0 and then released at t=0 (i.e. given Potential energy) or given an initial velocity v0 (i.e. given Kinetic energy) or Some combination of the two above cases General Initial Conditions for Free Vibrations:

x(0) x0 = (0) x= v0

initial displacement initial velocity

Plugging in Initial Conditions

Solution Form: x(t ) A1 sin nt + A2 cos nt = x(0) =A1 sin(0) + A2 cos(0) =A2 x(0) = A1n cos(0) A2n sin(0) = A1n A2 = x(0) = x0 x(0) v0 A1 = =

n n
v0 sin nt + x0 cos nt

x(t ) =

Phase-shifted form
= Other solution Form: x(t ) A sin(nt + ) = x(t )=A sin(nt + ) = A cos A1 = A sin A2 tan = sin A2 = cos A1 (1) (Check quadrant!)

[ A cos ] sin(nt ) + [ A sin ] cos(nt )

x0n A2 = arctan arctan = A1 v0

2 = A12 + A2 A2 sin 2 + A2 cos 2 = A2 2 v0 2 n

A=

A12

2 A2

=
2 v0 2 n

2 x0

x(t )

2 = x0 +

sin(nt + )

with given in (1)

A note on arctangents
Note that calculating arctangent from a calculator requires some

attention. First, most machines work in radians. The argument atan(-/+) is in a different quadrant then atan(+/), and usual machine calculations will return an arctangent in between -/2 and +/2, reading only the atan(-) for both of the above two cases. + + _ + +

Initial Conditions
x(t ) = 1

= A

2 2 2 n x0 + v0

v0

x0 = A2

2 2 x0 n

2 + v0

sin(nt + )

n = A1

x(t)

Period

T =

Amplitude A

x0

Slope here is v0 Maximum Velocity

n A

Summary of Simple Harmonic Motion

IC: = x= v0 x(0) 0 x(0)

Eof M meq (t ) + keq x(t ) = x 0

Response is x(t ) =A1 sin nt + A2 cos nt =A sin (nt + ) v A1 = 0

A2 =0 x

A=

A12

2 A2

A2 = arctan A1

Most important things we want to know: keq 2 Natural Frequency n = meq Amplitude of Motion A = A12 +
2 A2

Determined by parameters of structure, k m

2 v0 2 n

2 + x0

Determined by initial conditions and n

Example 1: Effect of fuel on frequency of an airplane wing

Model wing as transverse

beam Model fuel as tip mass Ignore the mass of the wing and see how the frequency of the system changes as the fuel is used up

Example 1: Transverse beam stiffness

Strength of materials

f
m

and experiments yield:

3EI k= 3 3EI n = 3 m

Mass of pod: 10 kg empty, 1000 kg full I = 5.2x10-5 m4, E =6.9x109 N/m, l = 2 m

Hence the

natural frequency changes by an order of magnitude while it empties out fuel.

full =

5 9 3(6.9 10 )(5.2 10 ) 3EI = 3 1000 23 m = 11.6 rad/s = 1.8 Hz

empty =

3(6.9 10 9 )(5.2 10 5 ) 3EI = 3 m 10 2 3 = 115 rad/s = 18.5 Hz

Energy Conservation in Oscillatory Motion

Potential energy versus time

Kinetic energy versus time

Note Kinetic Energy is max when Potential energy is

minimum and vice versa. Total energy is conserved.

Conservation of Energy
For a simple, conservative (i.e. no damper), mass spring system the energy must be conserved:

T +V = constant d or (T + V ) = 0 dt
When displacement is maximum, potential energy is maximum but kinetic energy is minimum .

Tmax + Vmin = + Vmax Tmin

can usually set to 0 =0

so Tmax = Vmax

Can use these facts to derive equation of motion and find natural frequency.

Raleighs Method for natural frequency

Assume solution x(t)= Asin(wt+) (sinusoid) Then max x(t) = A, max dx/dt=nA. Equate maximum potential (Vmax) and kinetic energies (Tmax) to calculate the natural frequency of the system.

Example:
x=0 x0

1 2 1 = = Vmax kA Tmax m(n A) 2 2 2 Since Tmax = Vmax

k

1 2 1 kA = m(n A) 2 2 2 = k
2 mn

= n

k m

Raleigh Method: shortcut

If we use concept of equivalent mass and equivalent stiffness for a 1 DOF system with *linear* spring elements, we can write total kinetic and potential energies as: 1 1 and = meq x 2 V keq x 2 2 2

Then Raleigh method essentially says: keq meq

2 n

Reminders
Polar moment of inertia is a measure of an

object's ability to resist torsion resistance to twist. It is analogous to the area moment of inertia, which characterizes an object's ability to resist bending. Must not be confused with the mass moment of inertia, which characterizes an object's angular acceleration due to a torque resistance to being rotated.