-

m K K

FORCED VIBRATIONS INTRODUCTION x When a mechanical system undergoes free vibrations, an initial force (causing some displacement) is impressed upon the system, and the system is allowed to vibrate under the mg influence of inherent elastic properties. The system however, comes to rest, depending upon the amount of damping in the system. In engineering situations, there are instances where in an external energy source causes vibrations continuously acting on the system. Then the system is said to undergo forced vibrations, as it vibrates due to the influence of external energy source. The external energy source may be an externally impressed force or displacement excitation impressed upon the system. The excitation may be periodic, impulsive or random in nature. Periodic excitations may be harmonic or non harmonic but periodic. The amplitude of vibrations remains almost constant. Machine tools, internal combustion engines, air compressors, etc are few examples that undergo forced vibration. 3.2 FORCED VIBRATIONS OF SINGLE DOF SYSTEMS UNDER HARMONIC EXCITATION Consider a spring mass damper system as shown in Figure 3.1 excited by a sinusoidal forcing function F=Fo Sin t

C m F = F0 Sin t

kx F

Cx

F Fo

Figure 3.1

Let the force acts vertically upwards as shown in FBD. Then the Governing Differential Equation (GDE) can be written as m88 = - Kx - C x + F 8 8 x

m 88 + C x + Kx = F --------------- (3.1) 8 x is a linear non homogeneous II order differential equation whose solution is in two parts. 1. Complementary Function or Transient Response Consider the homogenous differential equation, m +x + Kx = 0 which is incidentally the GDE of a single DOF spring mass damperC 8 88 x system. It has been shown in earlier discussions that for different conditions of damping, the response decays with time. Thus the response is transient in nature and therefore termed as transient response. For an under damped tsystem the complementary function or transient response.

xc = X1
xc = X1 n
t

Sin (dt + )
(A Sin dt + B Cos dt)------------ (3.2)

2. Particular Integral or Steady State Response This response neither builds up nor decays with time. It is steady state harmonic oscillation having frequency equal to that of excitation. It can be determined as follows. Consider non-homogenous differential equation m 88 + Cx + Kx = Fo Sin t 8 8 x ----------- (3.3)

The particular integral or steady state response is a steady state oscillation of the same frequency as that of external excitation and the displacement vector lags the force vector by some angle. Let x = X Sin (t - ) be the trial solution X: Amplitude of oscillation : Phase of the displacement with respect to the exciting force (angle by which the displacement vector lags the force vector). Velocity = x 8 8 = X. Cos (t - ) x = X Sin [90 + (t - )] Acceleration 2 88 x = - X. Sin (t - ), substitute these values in GDE, (equation 3.1) We get -m 2 X Sin (t - ) + C Sin [90 + (t - )] + KX Sin (t - ) = Fo Sin t 2 m X Sin (t - ) - C Sin [90 + (t - )] - KX Sin (t - ) + Fo Sin t = 0 ---------- (3.4)

The four terms in the above equation represent both in magnitude and direction, the four forces namely: inertia force, damping force, spring force and impressed force, taken in order, acting on the system and their sum is equal to zero. Thus they satisfy the DAlemberts principle. F = 0. Now, if vector representation as shown in Figure 3.2, is employed to denote these forces the force polygon shown in Figure 3.3 should close. Represent the force vectors and draw the force polygon as given below.

Figure 3.2

A B X

) (t - )
O Reference axis

Figure 3.3 Impressed force: Fo Sin t: acts at an angle t from the reference axis. Displacement vector X: Lags the force vector by an angle and hence shown at (t - ) from the reference axis.

Spring force: - KX Sin (t - ): which means that the vector KX acting at (t - ) or KX acting in opposite direction to (t - ) = at [90 + (t - )] Damping force: - CX [Sin (90 + (t - )] - CX acting at 90 + (t - ) or CX acting in opposite direction to [90 + (t - )] 2 Inertia force: m X Sin (t - ) Vector m2X acting at (t - ) From the force polygon, in figure 3.3 Consider the triangle OAB. OA2 = OB2 + BA2 = (CX)2 + (KX-m2X)2 Fo2 = X2 (C)2 + x2 (K-m2)2 Fo2 = X2 [(K-m2)2 + (C)2] F0 X= (K-m2)2 + (c)2 = Cx KX-m2x = --------- (3.5) C K-m2

and tan = OB BA tan = = tan-1 C K-m2 C K-m2

-------- (3.6)

If X and are expressed in non-dimensional form it enables a concise graphical presentation of results. Therefore, divide the numerator and the denominator by K. F0 /K X = (1m2 ) +( K
2

c 2 ) Kk

tan =

C /K 2 m) (1K

Further, the above equations can be expressed in terms of the following quantities Fo K = Xst - Zero frequency deflection

Deflection of spring mass system under the steady force Fo should not be mistaken as st = mg K

m = 1 n2 K C 2 K = Kn Thus X (1 = Xst )2 + (2 . )2 n2 n
2

= r = frequency ratio n Xst X= --------- (3.7) (1 - r2)2 +( 2 . r)2 X whereXst is called magnification factor, amplification factor, or amplitude ratio. X M=Xst : It is the term by which Xst is to be multiplied to get the amplitude. 2 n tan =
2 n 2

( 1 - )

2r 1-r2

2r ... tan = 1-r2

-------- (3.8)

Thus the steady state response xp = X Sin (t - ), in which X and are as given above. Total solution x = xc + xp For under damped conditions: as t , xc 0 i.e., the transient response dies out. Complete solution consists only steady state response only. =0 =--------- (3.9) 0 x = X Sin (t - ) As mentioned above, the transient vibrations die out very soon and hence the system vibrates with steady response amplitudes. The behaviour of the system can be best understood by plotting frequency response curves as given below, in figure 3.4 and 3.5. Frequency Response Curves: = 0.25 Magnification Factor vs Frequency Ratio for Different amounts of Damping

Magn ificati on Facto rM= X/Xst

= 0.375 = 0. 5

= 0.707 =1 =2 Frequency Ratio r = (/n)

Figure 3.4
Phase lag vs frequency ratio for different amounts of damping.

= 0.25 = 0.5 = 0.707 = 1.0 = 2.0

=0

P has e An gle, ,

0.5

1.0

1.5

2.0

2.5

3.0

Frequency Ratio r = (/n)

The following characteristics of the magnification factor (M) can be observed. 1) For damped system ( =0); M as r 1. 2) Any amount of damping ( >0) reduces the magnification factor (M) for all values of forcing frequency. 3) For any specified value of r, a higher value of damping reduces the value of M 4) When the force is constant (r =0), M =1. 5) The amplitude of the forced vibrations becomes smaller with increasing value of forced frequency. i.e M 0,as r . 6) For 0< < 1/ 2 (0 < <0.707), the maximum value of M occurs when r=(1-2 2) or = n(1-2 2), which is lower than the Undamped natural frequency n and the damped natural frequency d = n(1-2 2),

Figure 3.5

7) The maximum value of X (when r= (1 - 2 2) is given by (X/Xst)= 1/[2 (1-2)] and the value of X at = n is given by (X/Xst ) = 1/2 8) For >1/2, the graphs of M decreases with increasing values of r.
The following characteristics of the phase angle can be observed from the graph

1) For undamped system the phase angle is 00 for 0<r<1, and 1800 for r>1. This implies that the excitation and response are in phase for 0<r<1 and out of phase for r>1 when =0. 2) For >0 and 0<r<1 the phase angle is given by 0 0<<900, implying that the response lags excitation. 3) For >0 and r>1, the phase angle is given by 90 0<< 1800, implying that the response leads excitation. 4) For >0 and r=1, the phase angle is =900 implying that the phase difference between the excitation and response is 900. 5) For >0 and large values of r, the phase angle approaches 1800 implying that the response and excitation are out of phase. The damping factor has a large influence on amplitude and phase angle in the region where r = 1(resonance).The phenomenon represented be frequency response curve can be further better understood by means of vector diagram as follows. Consider three different cases as (1) / n << 1 (2) / n = 1 (3) / n >> 1 Case (1): / n << 1 for which should be very small At very low frequencies, when is very small, the inertia for m 2x and the damping force Cx are very small.

Fo Kx CX m2X

(t-)

Figure 3.6
This results in small values of as shown in fig .The impressed force F0 is almost equal and opposite to spring force KX. Thus for very low frequencies, the phase angle tends to zero and the impressed force wholly balance the spring force Case (2): when / n = 1

Kx

Fo

CX

m2X

Figure 3.7
With increased value of , the damping force Cx and inertia force m 2 x increase. The phase angle also increases. If is increased to such an extent that phase angle =900, the force polygon becomes a rectangle as shown. The spring force and inertia vectors become equal and opposite. KX = m 2 x = (K/m) = n = n / n =1 This is the response condition of the system during which the forcing frequency is equal to natural frequency of the system. Also the impressed force is completely balanced by the damping force. CX= F0 X= F0 /C = F0/K/ C/K X=Xst / 2 (/ n) X=Xst / 2 (/ n) = 1 Xr /Xst = 1/2 Xr = Amplitude at resonance

Case (3): when / n >>1

Fo
KX CX

m2X

Figure 3.8
At very large values of > approaches 1800, the inertia force becomes very large, where as the spring force and damping force vectors becomes negligibly small. The improved force is wholly utilized in balancing the inertia force. 1800 i.e., Fo = m 2x X = F o / m 2 NUMERICAL EXAMPLES: 3.1) A machine part of mass 2.5 Kgs vibrates in a viscous medium. A harmonic exciting force of 30 N acts on the part and causes resonant amplitude of 14mm with a period of 0.22sec. Find the damping coefficient. If the frequency of the exciting force is changed to 4Hz, determine the increase in the amplitude of forced vibration upon removal of the damper. Data: m = 2.5Kg, F0 = 30N, X = 14mm, = 0.225sec Part 1: At Resonance n = forcing frequency = 2/ = 28.56 rad/sec At resonance: = n = 28.56 rad/sec n = (K/m) = 28.56 rad/sec K = 2039 N/m Amplitude at resonance Fo/K X= [1 - r2] 2 + [2r] 2 As / n = 1, X = (F0/K)/2 = 0.014 ... = 0.526

Damping coefficient = C = Cc = 2m n = 2*2.5*28.56*0.526 = 75.04 N/m/s C = 0.07504 Ns/m

Part (2): When f = 4 Hz Forcing = 2*fn = 25.13 rad/sec Frequency n = 28.56 rad/sec, unchanged Amplitude of vibration with damper Xa = Fo/K [1 - r2] 2 + [2r] 2 = 0.01544m Amplitude of vibration without damper Xb = (30/2039)/(0.2258) = 0.0652m Increase in Amplitude = 0.0652 0.0155 = 0.0497m Amplitude = 49.7mm 3.2) A body having a mass of 15 kgs, is suspended from a spring which deflects 12mm due to the weight of the mass. Determine the frequency of free vibrations. What viscous damping force is needed to make the motion a periodic at a speed of 1mm/sec. If when, damped to this extent, a disturbing force having a maximum value of 100N and vibrating at 6Hz is made to act on the body. Determine the amplitude of ultimate motion. Solution: Data: m = 15Kg; F0 = 100 N; f = 6Hz; st = 12mm; (a) fn = (1/2)(g/ st) = 4.55Hz (b) The motion becomes aperiodic, when the damped frequency is zero or when it is critically damped ( = 1). = n = (g/ ) = 28.59 rad/sec C = Cc = 2m n = 2*15*28.59 = 857 N/m/s = 0.857 N/mm/s Thus a force of 0.857 N is required at a rate of 1mm/s to make the motion a periodic. (c) X= F0

(K-m2)2 + (c)2 = 2f = 2*6 = 37.7 rad/sec, f0 = 100 N fn = (1/2)((K/m) ... K = 12,260 N/m X = 0.00298m = 2.98mm.

Condition for peak amplitude of vibration (Expression for peak amplitude) The frequency at which the maximum amplitude occurs can be obtained as follows. X Xst Xst 2 2 2 M= X = [1 - r ] + [2r] i.e., for a system acted upon by a known harmonic force, the amplitude depends only on (/ n). Hence for X to be maximum [1 r2] 2 + [2r] 2 should be minimum. dx dx d(/ n) d(r) ([1 - r2] 2 + [2r] 2) = 0 2(1 - r2) 2 (-2r) + 42r = 0 2(1 - r2) + 42r = 0 422r = 0 = 2(1 - r2) 22 = 1-r2 r2 = 1 -22 r = 1 -2 2 (/ n) peak = 1 -2 2 n peak = 1 -2 2

( (

) )

p n

peak

= 1 -2 2

---------- (3.10)

p = frequency at which peak amplitude occurs. Where p refers to the forcing frequency corresponding to the peak amplitude. No maximum or peak will1occur when the expression within the radical sign becomes negative i.e., for > or 2 > 0.707. for

p n

) = 1 -2

and peak amplitude is given by (X/Xst)max = 1/[2 (1- )] --------- (3.11)

3.3) A machine of mass 25 kgs, is placed on an elastic foundation. A sinusoidal force of magnitude 25N is applied to the machine. A frequency sweep reveals that the maximum

steady state amplitude of 1.3mm occurs when the period of response is 0.22sec. Determine the equivalent stiffness and damping ratio of the foundation. Solution: Data: F0 = 25N; m = 25 Kgs; Xmax = 1.3mm; = 0.22sec For a linear system, the frequency of response is same as frequency of excitation. ... Excitation frequency = = 2f = 2/ = 28.6 rad/sec thus Xmax = occurs, when = 28.6 rad/s Condition for maximum amplitude to occur: r = 1 -2 2 = /n ... n = /(1 -2 2 ) = 28.6/(1 -2 2 ) --------------(1) also we have, X/Xst = 1 [1 - r2] 2 + [2r] 2 Xmax/Xst = 1 [1 (1 -2 2 )] 2 + [42(1 -2 2 )] = 1 2 (1 -2 ) Xmax/(F0/K) = 1 2 (1 -2 ) Xmaxmn2/F0 = 1 2 (1 -2 ) 25*0.013* n2/25 = 1 2 (1 -2 ) Now substitute for n2 from eq.(1); for Xmax = r =1 -2 2

0.013*28.6/(1 -2 2) = 1.0633/(1 -2 2) = Squaring and rearranging,

1 2 (1 -2) 1 2 (1 -2)

4 - 2 +0.117 = 0 Z2 Z + 0.117 = 0 where 2 = Z. Solving the quadratic equation = 0.368, 0.93 The larger value of is to be discarded because the amplitude would be maximum only for < 0.707 ... take = 0.368 ... natural frequency n = (1 2(0.368)2 ) n = 33.5 rad/sec stiffness of the foundation, K = mn2 = 25(33.5)2 = 28.05*103 N/m 3.4) A weight attached to a spring of stiffness 525 N/m has a viscous damping device. When the weight is displaced and released, without damper the period of vibration is found to be 1.8secs, and the ratio of consecutive amplitudes is 4.2 to 1.0. Determine the amplitude and phase when the force F=2Cos3t acts on the system. Solution: Data: K = 525 N/m; = 1.8secs: x1 = 4.2; x2 = 1.0; F = F0sint = 2cos3t ... F0 = 2N, = 3 rad/sec X= Fo/K [1 - r2] 2 + [2r] 2 n = 2/ = 3.49rad/sec = ln(4.2/1.0) = 1.435 = = 0.22 2 2 (4 + ) r = /n = 2/3.49 = 0.573 r2 = 0.328 X= X = 5.3mm 2/525 [1 0.328] 2 + [4*0.484*0.328]

 = tan-1(2r) (1-r2) = tan-1(2*0.22*0.573) (1-0.328) = tan-1(0.375) = 20.560 3.5) The damped natural frequency of a system as obtained from a free vibration test is 9.8 cps. During a forced vibration test with a harmonic excitation on the same system, the frequency of vibration corresponding to peak amplitude was found to be 9.6 cps. Determine the damping factor for the system and natural frequency. d = 9.8 cps, p = 9.6 cps. (p / n) = 1 -22 n = d/1 -22 p1 -22 /d = 1 -22 Solving for : = 0.196 n = d/ 1 -22 = 10 cps. 3.6) A reciprocating pump of mass 300 Kgs is mounted at the middle of a steel plate of thickness 12 mm and width 500 mm and length 2.5 m damped along two edges as shown. During the operation of the pump, the plate is subjected to a harmonic excitation of F(t) = 50 cos 60 t N. Determine the amplitude of vibration of the plate.

.
12
m = 300 Kgs F0 = 50 N = 60 K = 192EI/l3 = 176.94*103 N/m =0 X = F0 /(K-m 2)2 X = 6.13*10-8mm

2.5 m

500

Vibrations Due to Reciprocating and Rotating Masses

Unbalance in rotating machine is one of the common causes of vibration. The centrifugal force generated (me2) due to the rotation of the body is proportional to the square of the frequency of rotation. This CF varies with speed of rotation and is different from the

harmonic excitation discussed in previous articles in which the maximum force is independent of frequency.

Fig. 3.9 Model of Reciprocating Machine Let:

Fig. 3.10 Model of Rotating Machine

m: mass of unbalanced mass. M: Total mass including unbalanced mass. e = eccentricity of unbalanced mass. = crank radius of reciprocating machine = stroke / 2. The force due to the unbalanced mass is as shown in the FBD. The GDE 8 mx + Cx + Kx = me2 Sin t 8 = F0 Sin t where F0 = me2 Let the steady state response be x = X. Sin (t - ) from the previous discussion we have X Xst = 1 [1-mr ] + [2 r]2
2 2

where Xst = F0 / K, r = /n here F0 = me2. X = X= me2 /K [1-mr2]2 + [2 r]2 M K 2 2 [1-mr ] + [2 r]2

me2 M

MX 2 M/K = = me [1-mr2]2 + [2 r]2 MX me and = tan-1 r2 [1-mr2]2 + [2 r]2 2r 1-r2

2 * 1 2 (K/M) [2 [1-mr2]2 + n2 r]2 --------- (3.12) -------- (3.13)

The variation of MX/me with (r = /n) for different values of is shown in figure 3.11 However, the variation of and r remains as earlier.

=0

= 0.1 M X/ me = 0.15 = 0.25 = 0.5 = 1.0 r = / n

Figure 3.11

The following observations can be made. Case (i) when <<< n, say r 0 MX/me = 0 (independent of , effect of damping is negligible) Case (ii) when = n ; r = 1 MX/me = 1/2 , dependent on if = 0, MX/me = , it is a case of resonance. Case (iii) when >>> n, r>>1, r . MX/me = 1 (independent of , effect of damping is negligible) At low speed me2 is zero and hence the curve starts from zero. It increases with increase in (/n) until the condition of resonance is achieved. At resonance MX/me = 1/2 and thus the

amplitude X is limited, by the damping present in the system. When /n is very large MX/me approaches unity. Numerical Examples Unbalanced Rotating and Reciprocating Masses and Force Transmissibility. 1) A reciprocating machine of mass 75 Kgs is mounted on springs of stiffness 11.76*105 N/m and a damper of damping factor 0.2. The slider of mass 2 Kgs within the machine has a reciprocating motion with a stroke of 0.08 m. The speed is 3000 rpm. Assuming the motion of the piston to be harmonic, determine 1. Amplitude of vibration of the machine. Solution: M = 75 Kgs; m = 2 Kgs, K = 11.76*105 N/m. For vibrations due to rotating unbalance Amplitude of vibration MX r2 = me [1- r2]2 + [2 r]2 e = stroke/2 = 0.08/2 = 0.04 m = 2 (3000) / 60 = 314 rad/sec. n = K/m = 11.76*10.5 /75 = 125 rad/sec. /n = r = 314 /125 = 2.51 75 (X)/2(0.04) = (2.51)2 / (1-2.52)2 + (2*0.2*2.51)2 X = 0.00125 m = 1.25 mm

Vibration Isolation and Transmissibility In machines vibrations are caused due to unbalanced masses. These vibrations are transmitted to the foundation upon which the machines are installed. If the transmission of vibrations to the foundations is not avoided the adjoining machines also set to vibrate. To minimize the forces transmitted to the foundation machines are usually mounted on springs or dampers or some other vibration isolation material. Vibration isolation is measured in terms of the motion or force transmitted to the foundation. The lesser the force or motion transmitted the greater the vibration isolation. Force Transmissibility or Transmissibility Ratio In the case of forced vibrations, it is defined as the rating force transmitted to that impressed upon the system. it is a measure of the effectiveness of a isolating material. For a spring mass damper system under harmonic excitation X= Xst [1- r2]2 + [2 r]2 ( 21-r r )
2

--- (a) and --- (b)

= tan-1

The forces are transmitted to the foundation or structure through the springs and dampers provided in the system. Thus the force transmitted to the foundation are the spring force KX and the damping force cx. Hence the total force transmitted to the foundation is the vector sum of KX and CX as shown in the Figure.

Impressed force

m
Spring force (KX)
Ft = Force transmitted

Damping force (CX) Foundation

= (KX)2 + (CX)2 = (KX)2 + (CX)2. (KX)2 / (KX)2 = (KX) 1 + (C/K)2

Substituting for X from (a) F0 Ft = K. K 1(C/K)2 [1- r2]2 + [2 r]2

F0 1+ (2 r)2 [1- r2]2 + [2 r]2

Ft 1+ (2 r)2 = F0 [1- r2]2 + [2 r]2

= Transmissibility Ratio (TR)

A plot of transmissibility ratio /n is shown in figure given below.

=0

Ft/F

= 0.2 = 0.5 = 0.6 = 0.2

0

= 0.6

=0
Frequency Ratio r = (/n)
The following observations can be made. Case (i) when /n = 0, r = 0, TR = 1, (independent of ) (ii) = n, r = 1, resonance. 1+ 4 2 TR = , dependent on 2 If = 0, TR = Case (iii) when /n = 2, Ft/F0 = 1, independent of Case (iv) when /n >>> , r Ft / F0 = TR = 0 Discussions: When /n = 0, i.e., the force is steadily applied, TR = 1, irrespective of the amount of damping produced in the systems. When /n = 1, it is condition of resonance. The force transmitted is infinity. If damping is used the magnitude of transmitted force is

reduced. When /n < 2 the transmitted is always greater then the impressed force. When /n = 2, for all the values of damping the force transmitted is equal to impressed force. When /n > 2, the transmitted force is always less than the impressed force. it also implies that TR decreases with decreasing values of . Thus, an undamped spring is superior to a damped spring in reducing force transmissibility. But certain amount of damping is necessary for to pass through the resonance condition. As seen from the above order to isolate vibrations due to external force, /n should be very large, i.e., >2. For a given value of /n should be very small. The static deflection of the spring should be as high as possible. These conditions will be satisfied by materials like steel springs, rubber, cork, felt etc., which are generally used as vibration isolators. Numerical Examples on Unbalanced Rotating and Reciprocating Masses and Force Transmissibility. 1. A reciprocating machine of mass 75 Kgs is mounted on springs of stiffness 11.76*10 5 N/m and a damper of damping factor 0.2. The slider of mass 2 Kgs within the machine has a reciprocating motion with a stroke of 0.08 m. The speed is 3000 rpm. Assuming the motion of the piston to be harmonic. 2. Amplitude of vibration of the machine. 3. Transmissibility ratio. 4. Force transmitted to the foundation. 5. Is vibration isolation achieved? If so how. Solution: M = 75 Kgs: m = 2 Kgs, K = 11.76*105 N/m. For vibrations due to rotating unbalance Amplitude of vibration MX r2 = 2 2 me [1- r ] + [2 r]2 e = stroke/2 = 0.08/2 = 0.04 m = 2 (3000) / 60 = 314 rad/sec. n = K/m = 11.76*10.5 /75 = 125 rad/sec. /n = r = 314 /125 = 2.51 75 (X)/2(0.04) = (2.51)2 / (1-2.52)2 + (2*0.2*2.51)2 X = 0.00125 m = 1.25 mm Transmissibility Ratio: (TR)

TR = TR = =

Ft F0

1+ (2 r)2 [1- r2]2 + [2 r]2

1 + (2*0.2*2.51)2 (1-2.52)2 + (2*0.2*2.51)2 = 2.008 29.09

1+ 1.0080 28.09 + 2.008

TR = 0.1861 Force transmitted to the foundation Ft Also TR = F 0 Ft = (TR) F0 Ft = 1467.9 N Vibration Isolation: Vibration isolation is achieved as only 18.6 % of the maximum shaking force (F0) is transmitted to the foundation. This is because the operating range of frequency ratio /n = r < 2 (2.51> 1.41). As r >>>>> 2, Ft F0 0 = (0.1861) * me2 = (0.1861) * 2 * 0.04 (314)2

2. A mass of 100 Kg, is mounted on a spring support having a spring stiffness of 20000 N/m and a damping coefficient of 100 NS/m. The mass is acted upon by a harmonic force of 39 N at the undamped natural frequency of the set up. Find 1. Amplitude of vibration of the mass. 2. Phase difference between the force and displacement. 3. Force transmissibility ratio. 3. A refrigerator of mass 35 Kgs operating at 480 rpm is supported on 3 springs. If only 10% of the shaking force is to be transmitted to the foundation what should be the value of K. 1+ (2 r)2 Ft = [1- r2]2 + [2 r]2 F0 assuming that no damped used = 0 TR = 1/(1- r2) = 1/ (1- r2) = 2* 480 / 60 = 16 rad/sec, TR = 0.1 = 0.1 = 1 [1- (16 /n)2] Ft F0

0.1 0.1 (16 /n)2 = 1

When positive sign is considered - 0.1 (16 /n)2 1 0.1 (16 /n)2 = 0.9/-0.1 = - 9 (16 /n) = -9 which is not possible

Taking the negative sign - 0.1 + 0.1 (16 /n)2 = 1 16 /n = (1+0.1/0.1) = 11 n = 15.15 rad/sec. n K = K/m Keq = 8.037 N/m K = 8.037/3 = 2.679 N/m. 4. A machine supported symmetrically on four springs has a mass of 80 Kgs. The mass of the reciprocating mass is 2.2 Kgs which move through a vertical stroke of 100 mm with SHM. Neglecting damping, determine the combined stiffness of the springs so that the force transmitted to the foundation is 1/20th of the impressed force. the machine crank shaft rotates at 800 rpm. If, under actual working conditions, the damping reduces the amplitudes of successive vibrations by 30%, find (a) The force transmitted to the foundation at 800 rpm (b) The force transmitted to the foundation at resonance. (c) The amplitude of vibrations at resonance. M = 80 Kgs, m 2.2 Kg TR = 1/20 = 0.05 N = 800 rpm e = 100/2 = 50 mm. = 2 N/60 = 83.78 rad/sec. 1. In the absence of damping TR = 1/ (r2 1) 1 0.05 = 83.782 n

- 1 n = 18.28 rad/sec

n2 = K/m K = Mn2 = 26.739 N/m 2. When damping is present = In (X1/x2) = In (1/1-0.3) = 2 / 1 2

 = 0.0567 Ft = Force transmitted to foundation at 800 rpm. Ft 1+ (2 r)2 = F0 [1- r2]2 + [2 r]2 = 0.0563 = TR

Ft = F0 * TR = TR * me2 = 43.47 N 3. At resonance /n = 1 TR = Ft = TR F0 1+ (2 r)2 2 = 8.875

(Ft) Res = F0 * TR = men2 * TR = 2.2 * 0.05 * (18.78)2 * 8.875 (Ft)Res = 326.25 N 4. Amplitude of vibration at resonance. Force transmitted at Resonance = Stiffness = 32.6.25/26.739 = 12.2 mm Forced Vibrations due to Excitation of Base Some times the base or support of a spring-mass damper system undergoes harmonic excitation as shown in figure.

+x M y = Y Sin t

+y Base Base excitation Let y: denotes the displacement of the base and x: denotes the displacement of the mass from static equilibrium position at a given instant t; such that
Absolute Amplitude of the Mass (X) y = Y sin t

KX

. CX

Ky

. Cy
x

KX Ky

. . Cy

CX

K (x-y) C(x y)
Now from NSL mx 88 = - K (x-y) C(x - y ) 8 8 = - Kx + Ky Cx + y 8 8 m 88 + C x + Kx = C y + Ky governing differential equation. 8 8 x Let the steady state response x = X Sin (t - ) 8 x = X cos (t - ) = X Sin [90 + (t - )] 88 = - 2 X Sin (t - ) x also y = Y Sin t y = Y Cos t 8 = Y Sin [90 + t] 2 y 88 = - Y Sin (t), substituting these values in GDE

. .

- m 2X Sin (t - ) + CX Sin [90 + (t - )] + KX Sin (t - ) = C Y Sin [90 t] + K Y Sin t. m 2X Sin (t - ) - CX Sin [90 + (t - )] KX Sin (t - ) + C Y Sin [90 t] + K Y Sin t = 0 Thus = 0. The forces can be represented as shown, and the force polygon should close. From the triangle OAB.

KY CY KX-C2X Y A t (t - ) CY M2X

KX KX CX

F0 KY 0

(t - )

m X

CX

OA2 F02

= AB2 + BO2 = (KX - m2X)2 + (CX)2 = [KX - m2X (KX/KX)]2 + [CX (KX/KX)]2

F02

= (KX)2 [(1- m2/K)2 + (C/K)2] = (KY)2 [1 + CY/ KY)2] = (KY)2 [1 + C/ K)2]

Also F02 = (KY)2 + (CY)2

(KY)2 [1 + C/ K)2] = (KX)2 [(1 - m2/ K)2 + (C/ K)2] Taking square roots and rearranging the terms KY [1 + C/ K)2] = KX [1- r2]2 + [2 r]2 The ratio X/Y is called displacement transmissibility. This equation is similar to that of transmissibility ratio, and all the observation and discussions are same as that discussed under transmissibility ratio and the frequency response curve given below. Displacement transmissibility is defined are the ratio of displacement transmitted to the mass to the displacement impressed upon the base.

=0 = 0.2 = 0.5 = 0.6 = 0.2 =0

r = (/n)
Relative Amplitude: If Z represents the relative motion of the mass with respect to the support we have Z = x-y x = (z + y) Substituting this in the governing differential equation. m88+ Cx + Kx = Cy + Ky 8 8 mx + CZ + KZ = - my 8 88 88 Z and substituting for y from y = Y Sin t m88 + CZ + KZ = m 2Y Sin t 8 Z Comparing this with 8 88 mx + Cx + Kx = me2 Sin t, of reciprocating and rotating unbalance. The steady state relative amplitude Z and the phase angle lag between the excitation and relative displacement. The relative motion frequency response which is similar to reciprocating and rotating unbalance as given below, can be used in designing vibration measuring instruments. Z/ Y = r2 / [1- r2]2 + [2 r]2 = tan-1 [2 r/ 1- r2]

X/ Y

= 0.5

=0

= 0.1 Z/Y = 0.15 = 0.25 = 0.5 = 1.0 r = / n

Force Transmitted: Force is transmitted to the base through the spring and dampers. If Z represents the relative displacement then Force transmitted = Ft = (KZ)2 + (CX)2 Ft = ZK2 (C)2 The force transmitted to the base is also determined by Ft = m 2X Numerical Examples on Base Excitation 1. Figure (given in problem No.3) shows a simple model of motor vehicle that can vibrate in vertical direction while traveling over a rough road. The vehicle has a mass of 1200 Kg. The suspension system has a spring constant of 400 KN/m and a damping ratio of = 0.5. If the vehicle speed is 100 Km/hr. Determine the displacement amplitude of the vehicle. The road surface varies sinusoidally with an amplitude Y = 0.05 m and a wave length of 6 m. Given m = 1200 Kg Speed 100 Km/hr 3 K = 400 * 10 N/m Y = 0.05 m = 0.5 wave length = 6 m = period Model: Single degree freedom damped system base excitation. Frequency of base excitation: = Speed/ Length of one cycle (100*1000)/3600 m/sec = 6m = 4.63 Hz.

Frequency of base excitation (100*1000) = 2 = 2 = 29.0087 rad/sec. 3600 * 6 m Natural frequency = n = K/m = 400* 103 / 1200 = 18.2574 rad/sec. Frequency ratio = r = /n = 1.5903 1+ (2 r)2 X = [1- r2]2 + [2 r]2 Y = 0.8493

Displacement amplitude of the vehicle X/Y = 0.8493 X = 0.8493 * (0.05) X = 0.0425 m 2. A precession grinding machine is supported on an isolator that has a stiffness of 1 MN/m and a viscous damping constant of 1KN-S/m. The floor on which the machine is mounted is subjected to a harmonic disturbance due to the operation of an unbalanced engine in the vicinity of grinding machine. Find the maximum acceptable displacement of the floor if resulting amplitude of vibration of grinding wheel is to be restricted to 10 -6m. Assume that the grinding wheel and machine are rigid bodies of total weight 5000 N.

Grinding Wheel Grinding Machine

x = X sin(t - )

X= 10-6 m

Isolators

y = Y sin10t

Y =?
Solution: W = 5000 N K = 1*106 N/m X = 10-6m 1+ (2 r)2 X Y = [1- r2]2 + [2 r]2 m = w/g = 509.6 Kg W = mg;m = 5000/9.81 Kg C = 103 N-S/m Y=? y = Y Sin 10t = 10 = 31.4 rad/sec

n = K/m = 106/509.6 n = 44.29 rad/sec 423 rpm

C = Cc = C/Cc = 1032.mn = 1032*509.6*44.29 = 0.0222 = 10 = 31.4 rad/sec r = 31.4 / 44.29 = 0.7093 X 1+ [2(0.0222*0.7093)]2 Y = (1- 0.70932)2 + (2 r)2 = 1+(0.0314)2 = 1/ (0.246 + 1.0) = 1.1166 X Y = 1.1166 given that X = 10-6m

Y = X/1.1166 = 10-6/1.1166 = 8.955*10-7m Y = 8.95*10-7 mm 3. A trailer has 1000 Kg mass when fully loaded and 250 Kg when empty. The suspension has a stiffness of 350 kN/m. The damping factor is 0.5. The speed of the trailer is 100 Km/hr. The road varies sinusoidally with a wave length of 5 m. Determine the amplitude ratio of the trailer: 1.When fully loaded. 2.When empty. Data: Mass of empty trailer = 250 Kg, = 0.50 Mass of loaded trailer = 1000 Kg, k = 350 kN/m Speed of trailer = 100 Km/hr = 100*1000/3600 = 27.77 m/sec

x m
C,K

One cycle

100 km/hr

y = Y Sin t

Y
Road profile

Time period = = wave length /velocity = 5/27.77 sec. = 0.18 sec Forcing frequency, w = 2/ = 2 / 0.18 = 34.896 rad/sec. 1. Empty trailer: Natural frequency of empty trailer wn = (k/m) = (350*103/250) = 37.416 rad/sec Frequency ratio, r = w/wn = 34.896/37.416 = 0.933 The ratio of amplitude of vibration of empty trailer to that of road surface is given as 1+ (2 r)2 X = [1- r2]2 + [2 r]2 Y = 1.3676/0.9419 = 1.4518

2. Loaded trailer: When the trailer is fully loaded the natural frequency is given by wn = (k/m) = (350*103/1000) = 18.708 rad/sec Frequency ratio r = w/wn = 34.896/18.708 = 1.8653 1+ (2 r)2 X = [1- r2]2 + [2 r]2 Y = 2.116 / 3.1026 = 0.6819 [X/Y]empty = 1.4518 [X/Y]loaded = 0.6819 The amplitude of vibration reduces as the mass of the system (loaded trailer) is increased. 4. An aircraft radio of mass 20 Kgs is to be isolated from engine vibrations, which is vibrating with amplitude of 0.05 mm at 500 cpm. The radio is mounted on four isolators, each having a spring scale of 31400 N/m, and damping factor of 392 NS/m. a. What is the amplitude of vibration of the radio? b. What is the amplitude of vibration of the radio relative to the engine. c. What is the dynamic load on each isolator due to vibration. Part A m = 20 Kgs K = 4*31400 = 125600 N/m C = 4*392 = 1568 NS/m y = Y Sin t Y = 0.05 mm, = 2 = 2* 500/ 60 rad/sec = 52.5 rad/sec. n = K/m = 125600/20 = 79.2 rad/sec. /n = 52.5 / 79.5 = 0.662 = C/2 Km = 0.496 X -5 Y = X = 0.069 mm = 6.9*10 m Part B X Y 1+ (2 r)2 [1- r2]2 + [2 r]2

= Z = 0.025 mm = 2.5*105m Part C Ft = Z K2+ (C)2 = 2.5*10-5 (1568*52.4)2 + 1256002 Ft = 3.8 N Total force transmitted. Ft on each isolator = 3.8/4 = 0.95 N The dynamic load can also be computed using Ft = m2X = (20) (52.4)2*6.9*10-5 Ft = 3.8 N

Chapter 5 Vibration Measuring Instruments 5.1 Introduction In practice the measurement of vibrations becomes necessary due to following reasons. 1. To determine natural frequencies, modal shapes and damping ratios. The measurement of frequencies of vibration and forces developed is necessary to design active vibration isolation systems. 2. The theoretically computed vibration characteristics of a machine or structure may be different from the actual values due to the assumptions made in the analysis. (To verify the analytical models). 3. Periodic measurement of vibration characteristics of machines and structures becomes essential to ensure adequate safety margins. (Preventive maintenance). 4. Measurement of input and resulting output vibration characteristics of a system helps in identifying the system in terms of its mass, stiffness and damping. 5.2 Vibration Measurement Scheme Figure 5.1 shows the basic features of a vibration measurement scheme. 1. Vibrating machine or structure. 2. Vibration transducer or pick up. 3. Signal conversion instrument. 4. Display / recording. 5. Data analysis. 2 3 4

Figure 5.1 Vibration Measurement Scheme The motion of a vibrating body is converted in to an electrical signal by the vibration transducer or pick up. The transducer transforms changes in mechanical quantities such as displacement velocity, acceleration in to changes in electrical quantities such as voltage or current. (Electrodynamic pick up, electromagnetic pick up, piezo electric pick up, inductive displacement pick up, LVDT pick up, capacitive pick up). Since the output signal of a transducer is too small to be recorded directly, a signal conversion instrument is used to amplify the signal to the required value (Amplifier). The output from the signal conversion

instrument can be displayed on a display unit or stored in a computer for later use (Oscilloscope, A to D converters, milli voltmeters, computers etc., the data can then be analyzed to determine the desired vibration characteristics of the machine. Depending upon the quantity measured the vibration measuring instrument is called a vibrometer, a velocity meter, an accelerometer, a phase meter or a frequency meter. To summarise, following are the guidelines. 1. Displacement measurements may be useful for studying low frequency vibrations, where corresponding velocity and acceleration measurements are too small for practical purposes. 2. Velocity measurements may be useful at intermediate frequencies where displacement measurements are likely to be small to measure conveniently. 3. Acceleration measurements may be useful at high frequencies. Instead of the above, vibration analyzers can also be used. Several commercial vibration analyzers are available today. They consist of a vibration pick up and an FFT (Fast Fourier Transformation) analyser, a balancing kit for phase measurement and an inbuilt computer. The pick up essentially a piezo electric type with a natural frequency of 25 kcps. (KHz). Built in double integration is also available for displacement plots. FFT converts time domain signal to a signal in frequency domain to identify the frequencies of concern. 5.3 Vibration pick ups: Seismic Instruments The commonly used vibration pick ups are called seismic instruments. The basic element of many vibration measuring instrument is a seismic unit which is basically a spring massdamper system mounted on a vibrating body on which measurements are to be made as shown in Figure 5.2.

Casing

x C y

Figure 5.2Seismic Unit Depending on the frequency range utilized displacement, velocity or acceleration is indicated, by the relative motion of the suspended mass with respect to the case.

Behaviour of Seismic unit Consider the equation of motion of spring-mass-damper system, subjected to base excitation, as shown in Figure 5.3.

x = X Sin (t-)
M

y = Y Sin t

Base
Figure 5.3 mx .. = - C .(x-y) K (x-y) . if Z = x-y; relative displacement the equation of motion becomes .. . . mZ + CZ + KZ = m2Y Sin t from this r2 Z = [1- r2]2 + [2 r]2 Y = tan-1 [2 r/1-r2] The parameters that influence Z/Y and are: (1) frequency ratio r = /n. (2) Damping factor , as shown in the Figure 5.4. Range for Accelerometer Range for Vibrometer

=0

= 0.1 Z/ Y = 0.15 = 0.25 = 0.5 = 1.0 r = / n

Figure 5.4. Frequency response curves

Figure 5.4 also shows the range of frequencies corresponding to which a seismic instrument act as a vibrometer or an accelerometer. Type of instrument is determined by the useful range of frequencies with respect to the natural frequency (n) of the instrument. The relative displacement Z, may represent the displacement or acceleration depending upon n of the seismic unit and frequency of vibrating body, .

5.4 Vibrometer or Seismometer

It is an instrument with low natural frequency. Therefore, >>>>> n r >>>> 1, r is very large. Z/Y 1, in particular when r > 3 Z/Y 1, (independent of ) Z=Y Relative displacement of the seismic mass = displacement of base. Z = X-Y, X = 0, Z=Y Hence the seismic mass remains stationary. It remains undisturbed in space. The supporting casing moves the vibrating body. Thus the relative displacement between the casing and the mass is the true displacement of the casing. Like wise, the relative velocity between the casing and the mass is the true velocity of casing. Usually, the relative motion Z is converted into electric voltage. The seismic mass is a magnet moving relative to the coils fixed to the case, as shown in Figure 5.6.

0 0 0

0 0 0

Seismic mass

Figure 5.6 The voltage generated is proportional to the rate of cutting of magnetic field. Therefore the output of the instrument is proportional to the velocity of the vibrating body. Such instruements are called velometers. A typical instrument of this kind may have a natural frequency of 1 Hz to 5 Hz and a useful range of 10 Hz to 2000 Hz. The sensitivity of such instruments may be in the range of 20 mV/cm to 350 mV/cm. Both the displacement and acceleration are available from the velocity type transducer by means of the integrator or the differeniator provided in most signal conditioner units.

Limitation of Vibrometers In order to have r >>>1, n should be very small. This means that, the mass must be very large and the spring must have a very low stiffness. Therefore, a vibrometer is a spring-massdamper system with a very large mass and a flexible spring. This results in bulky instrument, which is not desirable in many applications. In practice, a vibrometer may not have a large value of r, and hence the value of Z, may not be exactly equal to Y. In such cases the true value of Y, can be computed from: r2 Z = 2 2 [1- r ] + [2 r]2 Y 5.5 Accelerometer It is an instrument with high natural frequency. When the natural frequency of the instrument is high compared to that of the vibrations to be measured, the instrument indicates acceleration. Then <<<< n, r <<<<< 1, the factor [r (/n)2]2 + (2 r)2 approaches unity. Z (/n)2.Y (1/n2). 2Y Hence, Z 2 Y, which implies that Z is proportional to the acceleration of the vibrating body. Thus in order to make r <<<< 1, n should be very large. Hence K should be very large and m should be small. This means that, the instrument needs a small mass and spring of large stiffness. Therefore, the instrument will be very small in size and compact. Due to their small size and high sensitivity accelerometers are preferred in vibration measurements. The acceleration measured can be integrated once or twice with the help of modern electrical circuits to obtain velocity and displacement of the system. Thus the difference between a vibrometer and an accelerometer is in its natural frequency. In vibrometer it is very small where as in accelerometer it is very high. The principle of construction remains same. 5.6 Useful Frequency Range The useful range of accelerometer can be seen from the following graph for different amounts of damping . Useful frequency range is that range of r between which the maximum error is less than 0.01 %. The useful frequency range for un damped accelerometer is very much limited. However, with = 0.7 the useful frequency range is quite large, that is, between 0 /n 0.20, as shown in Figure 5.7.

Figure 5.7. Useful frequency range Thus an instrument with a natural frequency of 100 Hz has a useful frequency range of 0 to 20 Hz with negligible error. (Up to 20 Hz the error is less than 0.01%). Figure 5.8 shows accelerometers.

Figure 5.8. Accelerometers Numerical Examples on Vibration Measuring Instruments 1. A vibrometer having a natural frequency of 4 rad/sec and = 0.2 is attached to a structure that executes harmonic motion. If the difference between the maximum and minimum recorded value is 8 mm, find the amplitude of vibration of structure when its frequency is 40 rad/sec. n = 4 rad/sec, = 0.2 Z = Relative amplitude = 8/2 = 4 mm = 40 rad/sec r = /n = 40/4 = 10 Z Y = r2 [1- r ] + [2 r]2
2 2

Z Mean

4 mm 8 mm

= 1.0093

Z/Y = 1.0093 Y = 3.9631 mm 2. A vibrometer has a natural frequency of 10 cps and has a damping ratio of 0.7. It is used, by mistake, to measure vibrations of a fan base at an exciting frequency of 180 rpm. The measured vibration velocity of the fan base is 3 mm/s. What is the actual velocity of the fan base? For a vibrometer, r2 Z = [1- r2]2 + [2 r]2 Y In the present case, n = 10 cps = 62.8 rad/sec. Exciting frequency = 180 rpm = 18.84 rad/sec. Hence r = /n = 0.3 (Z/Y) = 0.09/(0.8281 + 0.1764) = 0.089 Hence Y = Z/0.089 = 33.6 mm/s. It may be noted that the actual velocity is beyond permissible limits, whereas what is read is well below the permissible limit. Hence one should be very careful in selecting the proper instrument. 3. A seismic instrument is fitted to measure the vibration characteristics of a machine running at 120 rpm. If the natural frequency of the instrument is 5 Hz and if it shows 0.004 cm determine the displacement, velocity and acceleration assuming no damping. n = 5 Hz ; n = 2n = 10 rad/sec = 31.4 rad/sec N = 120 rpm = 2N/60 = 12.56 rad/sec

r = /n = 12.56/31.4 = 0.4 Z = 0.004 cm = 0.0004 mm For seismic instruments Z Y Z Y r2 = 2 2 [1- r ] + [2 r]2 r2 = [1- r2]2 r2 = r2] [1, =0

Displacement Y = Z(1-r2) / r2 = 0.021 cm Velocity V = Y = 2N/60* 0.021 = 0.26 cm/sec Acceleration a = 2Y = (Y) = 3.265 cm/sec2 4. A vibrometer indicates 2 percent error in measurement and its natural frequency is 5 Hz. If the lowest frequency that can be measured is 40 Hz, find the value of damping factor. Solution: Data: n = 5Hz, = 40 Hz, error = 2% r = /n = 40/5 = 8 Z/Y = 1.02 (since the error is 2%) r2 Z = [1- r2]2 + [2 r]2 Y (1.02)2 = 82/(1-64)2 + (16 )2 = 0.35

Session-VIII (6.5.05) BKS

5.6 Useful Frequency Range of Vibration Measuring Instruments:

Useful frequency range is that range of r between which the maximum error is less than 0.01 %. Vibrometer: As evident from Figure 5.4 for value of far greater than 1, Z/Y 1 for any value of . This means that the mass remain un disturbed in space. Hence the relative displacement between the casing and the mass is the true displacement of casing. Similarly the relative velocity between the casing and the mass is the true velocity of the casing. The instruments which have natural frequency n such that r >>>> 1, can read displacement or velocity directly. They are vibrometers and velometers, respectively. The accuracy of these instruments depend upon the amount of damping and frequency ratio at which they are used. Figure 5.6 shows the values of close to 1, plotted against Z/Y. It is seen that when varies from 0.6 to 0.7 the percentage error in Z as compared to Y is less than 4. For = 0.707, and r >>>1. Z Y and thus the error is less than 0.01%. Thus there is a lower cut-off frequency for a vibrometer, beyond which it gives readings with error less than 0.01% (concept demonstrated in numerical examples)

Z/Y

Figure 5.7. Useful frequency range for vibrometer Accelerometer: Z r2 = [1- r2]2 + [2 r]2 Y where = 1 [1- r2]2 + [2 r]2

= r2 = amplitude distortion factor.

Therefore Z/Y = (2/n2)

Z = Y (2/n2) For r <<<< 1, approaches unity. Therefore, Z 2 Y, (i.e., relative displacement is proportional to the acceleration). The amplitude distortion factor should remain constant over the desired range of frequency of the accelerometer. Thus for r <<< 1, = 1/2 = 0.7, would remain constant at 1, in the range = 1/[1+r4] 1, i.e., 0 < r < 0.25.

The useful range of accelerometer can be seen from the following graph in Fig 5.8 for different amounts of damping . The useful frequency range for undamped accelerometer is very much limited. However, with = 0.7 the useful frequency range is quite large, that is, between 0 /n 0.25, as shown in Figure 5.8.

Figure 5.8. Useful frequency range for accelerometer Thus an instrument with a natural frequency of 100 Hz has a useful frequency range of 0 to 20 Hz with negligible error. (Up to 20 Hz the error is less than 0.01%). Figure 5.9 shows accelerometers.

Figure 5.9. Accelerometers

Numerical Examples on Vibration Measuring Instruments

1. A vibrometer having a natural frequency of 4 rad/sec and = 0.2 is attached to a structure that executes harmonic motion. If the difference between the maximum and minimum recorded value is 8 mm, find the amplitude of vibration of structure when its frequency is 40 rad/sec. n = 4 rad/sec, = 0.2 Z = Relative amplitude = 8/2 = 4 mm = 40 rad/sec r = /n = 40/4 = 10 Z Y = r2 [1- r ] + [2 r]2
2 2

Z Mean

4 mm 8 mm

= 1.0093

Z/Y = 1.0093 Y = 3.9631 mm 2. A vibrometer has a natural frequency of 10 cps and has a damping ratio of 0.7. It is used, by mistake, to measure vibrations of a fan base at an exciting frequency of 180 rpm. The measured vibration velocity of the fan base is 3 mm/s. What is the actual velocity of the fan base? For a vibrometer, r2 Z = [1- r2]2 + [2 r]2 Y

In the present case, n = 10 cps = 62.8 rad/sec. Exciting frequency = 180 rpm = 18.84 rad/sec. Hence r = /n = 0.3, Z = 3 mm/sec (Z/Y) = 0.09/(0.8281 + 0.1764) = 0.089 Hence Y = Z/0.089 = 3/0.089 = 33.6 mm/s. It may be noted that the actual velocity is beyond permissible limits, whereas what is read is well below the permissible limit. Hence one should be very careful in selecting the proper instrument. 3. A seismic instrument is fitted to measure the vibration characteristics of a machine running at 120 rpm. If the natural frequency of the instrument is 5 Hz and if it shows 0.004 cm determine the displacement, velocity and acceleration assuming no damping. n = 5 Hz ; n = 2n = 10 rad/sec = 31.4 rad/sec N = 120 rpm = 2N/60 = r = /n = 2N/60*10 = 0.4 r = 0.4 Z = 0.004 cm = 0.0004 mm For seismic instruments Z Y Z Y r2 = 2 2 [1- r ] + [2 r]2 r2 = [1- r2]2 r2 = r2] [1, =0

Displacement Y = Z(1-r2) / r2 = 0.021 cm Velocity V = Y = 2N/60* 0.021 = 0.26 cm/sec Acceleration a = 2Y = (Y) = 3.265 cm/sec2 4. A vibrometer indicates 2 percent error in measurement and its natural frequency is 5 Hz. If the lowest frequency that can be measured is 40 Hz, find the value of damping factor. Solution: Data: n = 5Hz, = 40 Hz, error = 2% r = /n = 40/5 = 8

Z/Y = 1.02 (since the error is 2%) r2 Z Y = [1- r2]2 + [2 r]2 (1.02)2 = 82/(1-64)2 + (16 )2 = 0.35

5. A commercial vibration pick-up has a natural frequency of 5.75 Hz and a damping factor of 0.65. What is the lowest frequency beyond which the amplitude can be measured with in (a) 1% error (b) 2% error. Part (a). r2 Z 2 2 Error = [Z-Y]/Y*100 Y = [1- r ] + [2 r]2 1 = (Z/Y-1)100 Given that error is to be 1% Z/Y = 1+0.01 = 1.01 Z = 1.01 times Y r2 [1- r2]2 + [2 r]2 r2 2 2 [1- r ] + [2 r]2 Simplification leads to 0.02 r4 0.31r2 + 1 = 0 giving r = 3.30 and 2.02 = 1.01, Z/Y 1.01 1.00 = 0.65

1.00 2.02 3.00 r These are the two values at which Z/Y = 1.01 in between these two values Z/Y will be greater than 1.01, as shown. The lowest value of r beyond which the amplitude can be measured with in 1% error is r = 3.30. /n = /n = r = 3.30 = 3.30 * 5.75 = 10 Hz = 10 Hz. Part (b). When the error is 2% Z/Y = 1.02 When solved for r, for the given value of damping, we get imaginary value of r 2. This means that, for = 0.65, the curve Z/Y v/s r, does not go as high as Z/Y = 1.02. Thus to get the frequency for 2% error we have to consider Z/Y = 0.98 Solving for r r = 1.55 = 8.9 Hz.

6. Specify the lowest frequency of a vibrometer that can be measured with 1% error, if its natural frequency is 4 Hz and damping ratio is 0.2 = 0.2 n = 4 Hz r2 Z = [1- r2]2 + [2 r]2 Y = r2 [1- r ] + [2 r]2
2 2

on simplification r4 2r2 + 1 + 4 2r2 = r4 / (1.01)2 error = 1% Z/Y = 1.01 We get r4-93.38r2 + 50.75 = 0 Solving, we get r = 9.635 and 0.739

Z/Y

1.01 1.00

*
0.739 1.00 r

*
9.63

These are the two values at which Z/Y = 1.01. In between these two values Z/Y will be greater than 1.01 at r1 = 0.739 /n = r1, = 2.9 Hz. at r2 = 9.635 /n = r2, = 38.54 Hz. The lowest frequency beyond which the amplitude can be measured with 1% error is 38.54 Hz. 7. An accelerometer is made with a crystal of natural frequency 20 kHz. The damping ratio of accelerometer is found to be 0.71. Determine the upper cut off frequency of the accelerometer for 1% accuracy. r2 Z = [1- r2]2 + [2 r]2 n = 20 kHz Y = 0.71 error = 1 % r2 [1- r2]2 + [2 r]2 r2 0.99 = 2 2 [1- r ] + [2 r]2 1.01 = solving r = 0.3667 , imaginary value

upper cut-off frequency f = r* fn = 0.3667*20k Hz = 7.335 k Hz. 8. A device used to measure torsional acceleration consists of a ring having a moment of inertia of 0.049 Kg-m2 connected to a shaft by a spiral spring having a scale of 0.98 Nm-/ rad, and a viscous damper having a constant of 0.11 Nm-sec/rad. When the shaft vibrates with a frequency of 15 cpm, the relative amplitude between the ring and the shaft is found to be 20. What is the maximum acceleration of the shaft? Solution: Data: J = 0.049 Kg-m2 Kt = 0.98 Nm/rad n = Kt/J = 4.47 rad/sec = Ct/2KtJ = 0.11 / 20.98*0.049 = 0.25 z = 20 , = 2/57.3 = 0.0349 rad /n = 0.352 z y = (/n)2 [1- r2]2 + [2 r]2 Ct = 0.11 Nm-sec/rad = 2*15/60 = /2 rad/sec

y = 0.253 rad Maximum acceleration of the shaft = 2 y = (/2)2 * 0.253 = 0.62 rad/sec. 9. A vibrometer having a mass of 10 Kgs is used to measure the vibration amplitude of a machine which is vibrating with a frequency of 1000 cpm. If the error in the reading of the dial indicator is not to be more than 3% of the actual amplitude of the vibrating machine determine the stiffness of the vibrometer spring? 10. Show that an undamped seismic instrument will show the true response at a frequency ratio r = 1/2. Solution: Z/Y = r2/(1-r2), = 0, For true response Z=Y r2 /(1-r2) = 1 2r2 = 1 or r = 1/2

Session-IX (10.5.05) BKS

5.7 Whirling of Shafts

In many practical applications such as turbines, compressors, electric motors and pumps, a heavy rotor is mounted on a light weight flexible shaft that is supported between bearings. The mass centre of rotor do not coincide with the centre line of the shaft. Thus there will be unbalance in the rotor due to manufacturing errors. When the shaft rotates centrifugal force is induced on the shaft, which makes it to bend in the direction of eccentricity of rotor. In addition to this other effects such as stiffness and damping of the shaft, hyrtersis damping, gyroscopic effects, and fluid friction in bearings also cause the shaft to bend. This bending further increases eccentricity and hence the centrifugal force. This effect is cumulative and ultimately the shaft may even fail. The extent to which the shaft bends depends upon the eccentricity of the rotor mass and speed of the shaft. At certain rotational speeds the shaft tends to vibrate violently in transverse direction. At these speeds the shaft has a tendency to bow-out and whirl in a complicated manner as shown in Figure 5.10 and 5.11.

Undeflected Position XC G

Bearing centre line

Deflected Position

C G

Figure 5.10 Whirling of Shaft Bearing centre line

Bearing Bearing

Bent up shaft axis Rotor or Disc

Figure 5.11 Whirling of Shaft

This phenomenon is called whirling or whipping of shafts and the corresponding speeds are referred as whirling or whipping or critical speeds of shafts. These critical speeds are found to coincide with the natural frequencies of lateral (transverse) vibrations of the shaft. The excessive vibrations associated with critical speeds may cause permanent deformation resulting in structural damage. Eg: The rotor blades of a turbine may come in contact with stator blades. Larger shaft deflections produce larger bearing reactions, which may lead to bearing failure. The amplitude build up is a time dependent phenomenon and therefore, it is very dangerous to continue to run the shaft at it critical speed. The whirling motion of a shaft consists of two components of motion as shown in Figure 5.12. a. Spinning of the shaft along with rotor about the bent up shaft axis. b. Rotation of plane A made by the centre line of the bearings and bent up-shaft, about the centre line of the bearings. Bearing centre line

Plane A Plane A Bearing Plane A Plane A Bearing Rotation of plane A

plane A

Bent up shaft axis Figure 5.12 Whirling of Shaft

Rotor or Disc

The rotation of plane A, which is generally referred as whirling, may take place in the same sense as that of spinning of the shaft or in the opposite sense. Further the speed of whirling may or may not be equal to the speed of spinning of the shaft. When the whirling speed is equal to the speed of rotation of shaft it is called synchronous whirl. 5.7.1 Critical speed of a shaft with a single rotor (with out damping): Consider a shaft on which a rotor in symmetrically located between two bearings. The expression for the deflection of the shaft in terms of frequency ratio and eccentricity can be obtained as follows based on the following assumptions. 1. Shaft is light and flexible. 2. Gravity effects are negligible. 3. Friction at shaft centre is small. 4. Damping due to air is neglected. Let m: mass of the disc in Figure 5.10.

: Angular rotation of the disc (uniform angular velocity of shaft) e: eccentricity of the disc: radial distance of the mass centre of the disc from its geometric centre- G. K: Stiffness of the shaft in transverse direction C: Geometric centre of the disc. G: C.G of disc (mass centre) X: Lateral deflection of the shaft centre from 0. (OC) (deflection of the geometric centre of the disc). c: Critical speed of the shaft. The rotor, (disc) is in equilibrium under the action of two forces. Centrifugal force, which acts radially outwards through G = m2 (x + e) Restoring force which act radially inwards through C = KX For equilibrium restoring force = Centrifugal force KX = m2 (X + e) = m2 X + m2e KX - m2X = m2e (K - m2) X = m2e X/e = m2/[k-m2] = 1/[(k/m2)-1] = 1/[(n/2) 1]

when = n, X/e ratio is infinite. This particular value of is called critical speed. But, /n = r (n/ = 1/r) X/e = 1/[(1/r2) 1] 5.7.2 Discussions: The relation between X/e and c/ can be plotted as shown below in Figure 5.13.

+ r< X/e 1.0 - ve Figure 5.13 Relation between X/e and n / r n /

Case (i): When = n (r =1) Forcing frequency coincides with the natural frequency of transverse vibration of the shaft. X/e approaches infinity i.e., the deflection of geometric centre of the disc tends to infinity. The disk has a tendency to fly out, if the damping is insufficient. There will be severe vibrations of the shaft thereby producing huge bearings reactions. At = n, the above undesirable effects would occur and therefore = n = c is called the critical speed of the shaft. Case (ii): < c, r < 1 <<< n, r < 1 X/e = is positive. The deflection x and eccentricity e are in the same sense. This condition of disc is referred as Heavy side outside i.e.,. The disc rotates with heavy side outside. Thus C will lie between O and G. Positive sign indicates that X is in phase with CF.

C G
Figure 5.14 Disk with Heavy side outside
Case (iii): When > c, r > 1 >>> n X/e = negative, the deflection x and the eccentricity e are in opposite sense. This condition of the disc is referred as Heavy side inside. G falls between O and C. Negative sign indicates that X is out of phase with CF.

Figure 5.15 Disk with Heavy side inside When is very large, / n = r

G tends to coincide with O. The disc tends to rotate about its mass centre and hence vibrations are very minimum. This is the principle used for stabilization of aircrafts at high speeds. 5.7.3 Dynamic force transmitted to the bearings. Fd = KX n2 = K/m, K = mn2 at the critical speed = m2nX = m2X, at Note: 1. < n, r < 1, X/e is positive, Fd = m2 (X + e) 2. > n, r > 1, X/e is negative, Fd = m2 (X e) If the shaft is vertical dynamic load on each bearing FB = Fd/2 If the shaft is horizontal dynamic load on each bearing = FB = (mg/2 + Fd/2)

Numerical Examples

Critical speeds with out damping

1. A rotor has a mass of 12 Kg and is mounted midway on a horizontal shaft of 24 mm supported at the ends by two bearings. The bearings are 1 m apart. The shaft rotates at 1200 rpm. The mass centre of the rotor is 0.11 mm away from the geometric centre of the rotor due to certain manufacturing errors. Determine the amplitude of steady state vibrations and dynamic force transmitted to the bearings if E = 200 GN/m2. Solution: Data: m = 12 Kgs, l = 1m, d = 24 mm = 0.024 m. e = 0.11 mm, E = 200*109N/m2 Amplitude of steady state vibrations X/e = 1/[( n/)2 1] = 1/[(1/r)2 1] Assume the bearings are short. Shaft is simply supported. I = d2/64 = 16.3*10-9 = 16.3 * 10-9 m4; st = mgl3/48EI = 0.000752 m n = g /st = 114.2 rad/sec. = 2N/60 = 125.66 rad/sec r = / n = 125.66/114.2 = 1.1 X/e = - 5.76, e = 0.11 mm X = - 0.634 mm, Negative sign indicates that the displacement is out of phase with the centrifugal force.

Dynamic force: Fd = m2 (X-e) as r > 1 Fd = 12 * (125.66)2 (0.634 0.11) * 10-3 Fd = 99.29 N Total load on each bearing (shaft horizontal) F = = mg/2 + Kd/2 = (12* 9.81)/2 +99.29/2 = 108.5 N 2. A rotor having a mass of 5 Kgs is mounted midway on a 10 mm diameter shaft supported at the ends by two bearings. The bearing span is 400 mm. Due to certain manufacturing in accuracies the CG of the disc is 0.02 mm away from the geometric centre of the rotor. If the system rotates at 3000 rpm determine the amplitude of steady state vibrations and dynamic force transmitted to the bearings. Neglect damping. Take E = 1.96 * 105 N/mm2 Solution: K = 72000 N/m n = 120 rad/sec = 100 rad/sec X = - 0.0234 mm Fd = 1.68/2 = 0.84 N on each bearing 3. A shaft of 14 mm and the length 1.2 m is held in long bearings. It carries a rotor of 16 Kgs at its midspan. The eccentricity of the mass centre of the rotor from the shaft centre is 0.4 mm. The shaft is made of steel for which E = 200 GN/m2 and permissible stress is 70 MPa Determine the critical speed of the shaft and range of speed over which it is unsafe to run the shaft. Assume the shaft is mass less, (a) When the shaft is horizontal (b) When the shaft if vertical. Data: m = 16 Kgs, l = 1.2 m, e = 0.0004 m, d = 14 mm = 0.014 m, E = 2*105 MPa Allowable bending stress: b = 70 MPa Solution: (i) Critical speed c = n = (g/st) st = mgl3/192 EI (For long bearing: both ends are fixed) st = 0.00375 m. n = (g/ st) = 51.17 rad/sec n = 2N/60, N = 489 rpm Critical speed = 489 rpm. (ii) Range of speed

Bending load: When the shaft rotates additional dynamic load acts on the shaft which causes additional deflection and induces bending stress. Bending stress induced: b = My/I, = [(Wbl/8) * d/2]/(d4/64) Wb = Bending load d = diameter of shaft, l = span M = (Wbl/8) = Bending moment (Both ends fixed) Given allowable bending stress = 70 MPa Substitute b = 70 MPa in the above We get Wb = 125.7N Wb = 125.7N, additional load due to bending Additional deflection due to this Wb (whirling effect) 1 = (Wb/W) * st = (125.7/mg) * 0.00375 1 = 0.003 m (ii) (a). Range of speed when the shaft is vertical When the shaft is vertical X = 1 (Static deflection can be neglected) X = 0.003 m We have X= e/[(r2 1)] = e / [(n/)2-1] X = e /[{(2Nn/60}/{2N/60)2}-1], But Nn = 489 rpm 0.003 = 0.0004/ (489/N)2 1 (489/N)2 = 0.1333 N = 459 and 525 rpm. Thus the range of unsafe speed is 459 and 525 rpm. This range is unsafe because the stress induced exceeds 70N/mm2 (ii) (b) Range of speed when the shaft horizontal When the shaft is horizontal x = st + 1 = 0.00375 + 0.003 = 0.00675 m X = e/ [(Nn/N)2 1] 0.00675 = 0.0004/[(489/N)2 1]

(489/N)2 1 = 0.059 When + ve sign is considered 4892/N2 = 1 + 0.059 = 1.059 N = 475.18 rpm When ve sign is considered 4892/N2 = 1 - 0.059 = 0.941 N = 504 rpm Thus the range of unsafe speed is 475 and 504 rpm. This range is unsafe because the stress induced exceeds 70N/mm2 4. A shaft of 25 mm diameter is freely supported on bearings 750 mm apart carries a rotor of 20 Kgs, midway between the bearings. Determine the critical speed of the shaft, if the shaft material has a density of 8000 Kg/m3 and E = 2.1 * 105N/mm2. Solution: Data: d = 25 mm, l = 750, m = 20 kgs, E = 2.1 * 105N/mm2, = 8000 Kg/m3 Critical speed = n = (g/st) Considering the weight of the shaft st = (Wel3)/48 EI We = [(W/g + (17/35) l) l3]/48EI = 0.0468 * 10-5m n = 4578 rad/sec, fn = 729 Hz.

Session-X (13.5.05) BKS

5.7.4 Critical Speed of a Shaft with a Single Rotor with Damping

In engineering applications, rotors are subjected to air-resistance or structural damping. However, for analytical purposes, equivalent viscous damping may be considered with a viscous damping coefficient C and damping ratio . It has been shown that, in a viscously damper system subjected to forced vibrations the displacement lags behind the forcing function by an angle which is given by tan = 2r/(1-r2), r = /n = damping ratio. Due to damping the points O, C and G no longer remain collinear and take up the configuration given below as shown in Figure 5.16. The point C is pulled back due to damping. Thus the rotor will be in equilibrium under the action of the following forces. a. Centrifugal force = me2, due to the eccentricity of mass of the rotor. b. Spring force = KX. c. Centrifugal force mX2 due to whirling. d. Damping force CX. The above forces are shown both in magnitude and direction as given below in Figure 5.16. me
2

me2 Sin me2

2

KX C X CX

G ) mX2 (K -m )x

) me2 Cos CX

Figure 5.16
Resolve these forces in horizontal and vertical direction and for equilibrium. (K-m2) X = me2 Cos -- (a) 2 CX = me Sin -- (b) Squaring and adding (K-m2)2X2 + (CX)2 = (me2)2 (Cos2 + Sin2) X2 [(K-m2)2 + (C)2] = (me2)2 X = me2/[(K-m2)2 + (C)2]; Divide both numerator and denominator by K

X/e =[ m/K*2]/[(1-m/K*2)2 + (C/K)2], X/e = r2/ [(1-r2)2 + (2r)2] and

But: K/m = 1/n2

C/K = 2/n

tan = C/(K-m 2) = 2r/(1-r2)

These expressions are very much similar to frequency response curve of single DOF system subjected to harmonic excitation due to rotating unbalance. The frequency response curves are as shown in Figure 5.17 and 5.18.

=0

= 0.1 X/ e = 0.15 = 0.25 = 0.5 = 1.0 r = / n Figure 5.17 = 0.25 = 0.5 = 0.707 = 1.0 = 2.0 =0

Ph as e An gle , ,

0.5 Discussions

1.0

1.5

2.0

2.5

3.0

Figure 5.18

Frequency Ratio r = (/n)

a. When <<< n, r <<< 1. tan , 900 Disc rotates with heavier side outside i.e., G outside C as shown in figure (a)

G O

(a) < 90

b. When = n, r = 1 tan ,

900 G C O

(b) = 90 Resonance occurs: Deflection X is maximum. As damping increases deflection reduces. Severe lateral vibrations occurs. c. >>>> n, r >>> 1 900 < < 1800 C

G O

(c) 900 < < 1800 Disc rotates with heavy side inside. d. When = 1800

Irrespective of amount of damping, the point G approaches O. The system tends to be more stable and it is the desirable conditions. C

G O

(d) = 1800 Figure 5.19 shows the phase at different rotational speeds. G C O G C C G C

(a) < 90

(b) = 90

(c) 900 < < 1800

(d) = 1800

Figure 5.19
Numerical Example
5. A disc of mass 5 kg is mounted midway between two bearings which are 480 mm apart, on a horizontal steel shaft 9 mm in diameter. The CG of the disc is displaced by 3 mm from its geometric centre. Equivalent viscous damping at the centre of the disc is 48 Ns/m. If the shaft rotates at 675 rpm determine (a) the maximum stress in the shaft. (b) What is the power required to drive the shaft at this speed. (c) Also compare the maximum bending stress with the dead load stress in the shaft. Data: m = 5 kgs, e = 3 mm, Part (a) n = (g/st); st = Wl3/48EI = 1.79 mm = 1.79 * 10-3m n = [9.81/1.79*10-3] = 74.03 rad/sec = 2N/60 = 70.686 rad/sec l = 480 mm, d = 9 mm, E = 200 GPa (assumed) C = 48 Ns/m, N = 675 rpm,

r = /n = 0.955 K = mn2 = 27402.2 N/m = 27.4 * 103 N/m C = 48 Ns/m = C/2mn = 0.0648 X/e = r2/ [(1 r2)2 + (2 r)2] X = 15.8 mm = 15.8 * 10-3 m Dynamic load Fd = [(KX)2 + (CX)2] = 497.56 N Total bending load = FB = (5 * 9.81) + 497.56 = 546.6 N Maximum bending stress b = (32 M)/d3, M = Wl/4 (bending moment, simply supported) W = Fb = 546.6 N b = (32*546.6*480)/ (4) (9)3 = 916.4 N/mm2 Part (b) T = Torque: Damping force * X = Damping torque = (CX) X = CX2 = (48*70.686*15.8*10-3) * 15.8*10-3 T = 1.102 Nm Power = 2NT/60 N = 675 rpm P = 77.9 Watts Part (c) Bending stress due to dead load. b = (32 M)/d3, M = Wl/4 (bending moment, simply supported)

W = mg = 5 * 9.81 = 49.05 N b = 82.24 N/mm2 bmax/b, dead load = 916.4/82.04 = 11.14

Session-XI (17.5.05) BKS

6.Vibrations of Two Degree of Freedom Systems

6.1 Introduction
The modeling method discussed in previous chapters employed only one coordinate to describe the motion of the system completely. But general mechanical systems require several degrees of freedom for a meaningful model. Systems modeled with two independent co-ordinates to describe their motion are called two Degree of Freedom systems. There are two equations of motion for a two DOF system, one for each mass. They are generally in the form of coupled differential equations- i.e., each equation involves all the coordinates. If a harmonic solution is assumed for each co-ordinate, the equations of motion lead to a frequency equation that gives two natural frequencies for the system. If a suitable initial excitation is given the system vibrates at one of these natural frequencies. During free vibrations at one of the natural frequencies, the amplitude of two degrees of freedom (coordinates) are related in a specific manner and the configuration is called principal mode, or normal mode or natural mode of vibration. Thus a two DOF system has two normal modes of vibration corresponding two natural frequencies. 6.2 Free vibrations of two DOF system: Consider a two DOF system as shown in Figure 6.1, executing free vibrations. Let an initial displacement X1 be given to mass m1 and X2 to mass m2. Figure 6.2 shows the corresponding free body diagram.

K1 m1 K2 m2 K3
Figure 6.1

X1

X2

K1 X1 m1 X1 K2 X2 K2 X1

Let X2 > X1 K1 X1

m1 X1 K2 (X2 X1)

K2 X2

K2 X1

K2 (X2 X1) m2

m2 K3 X2 X2

K3 X2

X2

Figure 6.2 Based on Newtons second law of motion = mX For mass m1 .. m1x1 = - K1x1 + K2 (x2-x1) m1x1 + K1x1 K2 x2 + K2x1 = 0 m1x1 + x1 (K1 + K2) = K2x2 for mass (2) m2x2 = - K3x2 K2 (x2 x1)

..

..

..

----- (1)

..

.. mx +K ..
2 2

x2 + K2 x2 K2 x1 ----- (2)

m2 x2 + x2 (K2 + K3) = K2x1

Let us assume that under steady state conditions the solutions for x1 and x2 be harmonic therefore, assume x1 = X1 sin t, x2 = X2 sin t

.. x = - 2X sin t, 1 1

.. x = - 2 X sin t 2 2

Substitute these in (1) and (2) - m12X1 sin t + (K1 + K2) X1 sin t = K2 X2 sin t - m2 2X2 sin t + (K2 + K3) X2 sin t = K2 X1 sin t. Removing sin t through out and re arranging the terms. X1/X2 = K2/(K1 + K2 m12) = [(K2 + K3) m22]/K2 Cross multiplying K22 = (K1 + K2 m12) (K2 + K3 m22) On simplification we get m1m2 4 [m1 (K2 + K3) + m2 (K1 + K2)] 2 + [K1K2 + K1K3 + K2K3] = 0 The above equation is quadratic in 2 and gives two values of 2 and therefore the two positive values of correspond to the two natural frequencies n1 and n2 of the system. The above equation is called frequency equation since the roots of the above equation give the natural frequencies of the system. Discussions: Let K1 = K3 = K m1 = m2 = m Then the frequency equation becomes m24 2 m (K + K2) 2 + (K2 + 2KK2) = 0 Let: 2 = 2 = 4, m2 2 2 m (K + K2) + (K2 + 2 KK2) = 0 m2 2 2 m (K + K2) + (K2 + 2KK2) = 0 The roots of the above equation are as follows: Let a = m2, b = -2 m (K + K2); c = (K2 + 2KK2) 1,2 = [- b (b2 4ac)]/2a = [- (-2m) (K + K2) [-2m (K+K2)]2 4 (m2) (K2 + 2KK2)]/2m2

= [+ 2m (K +K2)]/2m2 [4m2[(K2 + k22 + 2 KK2) (K2 + 2KK2)]/4m4 = (K+ K2) /m (K22/m2) = (K +K2) /m K2/m 2 = (K + 2K2) /m n22 = (K + 2K2) /m n2 = [(K + 2K2) /m]

1 = (K + K2) /m K2 / m = K/m n12 = K/m n1 = (K/m) n1 is called the first or fundamental frequency or I mode frequency, n2 is called the second or II mode frequency. Thus the number of natural frequencies of a system is equal to the number of degrees of freedom of system.

Session-XII (18.5.05) BKS Two DOF System (contd.) Modes Shapes: From X1/X2 = K2/(K+K2) -m2 = (K2 + K) - m2/K2 Substitute n1 in any one of the equation. (X1/X2)n1 = K2 / K+ K2 m . K/m (X1/X2)n1 = 1 (X1/X2)n2 = K2 / K + K2 m(K+ 2K2/m) = K2/-K2 = -1 (X1/X2)n2 = -1 The displacements X1 and X2 corresponding to the two natural frequency of the system can be plotted as shown in Figure 6.3, which describe the mode in which the masses vibrate. Such a diagram is called principal mode shape of the system. When the system vibrates in principal mode the masses oscillate in such a manner that they reach maximum displacements simultaneously and pass through their equilibrium points simultaneously or all moving parts of the system oscillate in phase with one frequency. Since the ratio X1/X2 is important rather than the amplitudes themselves, it is customary to assign a unit value of amplitude to either X1 or X2. When this is done, the principal mode is referred as normal mode of the system.

m1

m2

K1 X1 m1 K2 m1 m2 K3
Figure 6.3

X2

I Mode

X1 Node

.
X2 m2

6.3 Discussion on Natural frequencies and mode shapes: Observation 1: It can be seen from the figure when the system vibrates in first mode, the amplitude of two masses remain same. The motion of both the masses are in phase i.e., the masses move up or down together. When the system vibrates in II mode the displacement of two masses have the same magnitude with opposite signs. Thus the motions of m 1 and m2 are 1800 out of phase. Observation 2: When the system vibrates in first mode, the length of the middle spring remains constant, this spring (coupling spring) is neither stretched nor compressed. It moves bodily with both the masses and hence totally ineffective as shown in Figure 6.4. Even if the coupling spring is removed the two masses will vibrate as 2 SDOF system with n = (K/m). Where as when it vibrates in II mode, the midpoint of the middle spring remains stationary for all the time. Such a point which experiences no vibratory motion is called a node, as shown in Figure 6.5. Observation 3: When the two masses are given equal initial displacements in the same direction and released, they will vibrate in I mode. When they are given equal initial displacements in opposite direction and released they will vibrate in II mode as shown in Figures 6.4 and 6.5

K1 X1 m1

K1 K1 X1

m1 K2

K2

m1 K2

m2

X2

m2 K3 m2 K3 X2

K3

Figure 6.4

K1 m1 K2 X1 m1

K1 K1 K2 m1

N
X2

.
m2

m2

K2

m2 K3 Figure 6.5

K3

K3

If unequal displacements are given in any direction, the motion will be superposition of two harmonic motions corresponding to the two natural frequencies.

Numerical Example
1. Obtain the frequency equation for the system shown in Figure. Also determine the natural frequencies and mode shapes when K1 = 2K, K2 = K, m1 = m, m2 = 2m. K1 X1 K1 m1 m1 K2 X1 X1 K2 X1 K2 X1 m2 m2 K2 (X2 X1) m1 K2 (X2 X1) K2 X2 K2 X2 X1 K1 X1

m2

X2

X2

X1

From NSL for mass (1) .. m1X1 = - K1X1 + K2 (X2 X1) .. = - K1X1 + K2 X2 K2X1 m1X1 + X1 (K1 + K2) = K2 X2 ----- (1) For mass (2) .. m2X2 = - K2 (X2 X1) .. = - K2 X2 + K2 X1 m2 X2 + K2X2 = K2 X1

----- (2) X2 = B Sin t X2 = - 2 B Sin t

..Let X

= A Sin t X1 = - 2 A Sin t,
1

Substitute these in (1) and (2) -m12 A Sin t + (K1 + K2) A Sin t = K2 B Sin t A (K1 + K2 m12) = K2B A/B = K2 / [(K1 + K2 m12)] ----- (3) 2 - m2 B Sint + K2B Sin t = K2 A Sin t (K2 m22) B = K2 A A/B = [K2 m22] / K2 ----- (4) Equating (3) and (4) K2 / (K1 + K2 m12) = [K2 m22] /K2 K22 = (K1 + K2 m12) (K2 m22) K22 = (K1 + K2) K2 m12 K2 m22 (K1 + K2) + m1 m24 m1 m2 4 - 2 [m1 K2 + m2 (K1 + K2)] + K1 K2 = 0 Put 2 = m1 m2 2 [m1 K2 + m2 (K1 + K2)] + K1K2 = 0 Or = [[m1 K2 + m2 (K1 + K2)] [{m1K2 + m2(K1+K2)}2]- 4 m1 m2K1K2]] / 2m1m2 Frequency equation of the system To determine the natural frequencies Given K1 = 2 K, K2 = K m1 = m, m2 = 2m

 = [mK + 2m (2K +K) [mK + 6mK)2 4m 2mK2K]] / 2m . 2m = [7 mK [(7mK)2 4 (4m2K2)]] / 4m2 = [7mK (49m2K2 16m2K2] / 4m2 = [7mK 5.744 mK] /4m2 1 = n12 = [7 mK 5.744 mK] /4m2 = 1.255 mK /4m2 = 0.3138 K/m n1 = 0.56 (K/m) 2 = n22 = [7mK + 5.744 mK] /4m2 = 3.186 K /m n2 = 1.784 (K/m) To determine the mode shapes: I mode shape: Substituting n12 = 0.3138 K/m A/B = [K2 m2 2] /K2 = [K2 m2. n12]/K2 A/B = (K 2m.0.3138 K/m)/K = 1-2(0.3138)] A/B = 0.3724 If A = 1, B = 2.6852 II mode: Substituting n22 = 3.186 K/m A/B = [K2 m2n22] /K2 = (K 2m. 3.186 K/m) / K = (1 3.186 *2) = - 5.372 A/B = - 5.372, if A = 1, B = - 0.186

A =1

.
I Mode

A =1

B = 2.6852

. . .
B = -0.186

2. Determine the natural frequency and the corresponding mode shapes for the system shown in figure X1 K1 m1

X2 K2 m2

K3

Given K1 = 3K, K2 = 2K, K3 = K m1= m, m2 = 2m Free body diagram

X1 K1X1 m1 K2X1 K2X2 K2 (X2 X1) K1X1 n1 = (K/m) K2 (X2 X1) K2X1 K2X2 m2

X2 K3X2

K3X2

n2 = (5.5 K/m)

Session-XIII (20.5.05) BKS Two DOF systems (contd.) 3. Determine the Natural frequencies and ratio of amplitudes of the system shown in Figure. Solution similar to example No. 1 n1 = 0.517 (K/m) (A/B)n1 = 0.731 n2 = 1.931 (5.5 K/m) (A/B)n2 = -0.2732 m K

2K

2m

4. Same as above Given m1 = 1.5 kg m2 = 0.8 kg K1 n2 = 3.88 rad/sec (A/B)n2 = 0.696 K2

K1 = K2 = 40 N/m n1 = 9.39rad/sec (A/B)n1 = -0.765 m1

m2

5. Determine the natural frequencies of the system shown in figure. Also determine the ratio of amplitudes and locate the nodes for each mode of vibration. Assume that the tension T in the string remains unchanged, when the masses are displaced normal to the string.

l m1

l m2

T
Masses in displaced position

m1 T T x1

m2 T x2

x1 - x2

T cos

m1

x1
T cos

T sin m2

x1

T sin

T (x1 - x2) T sin T cos

x2
T cos

T sin

Free body diagram NSL. For mass (1)

mx1 = - T Sin - T Sin

..

Sin = x1/l, Sin = x2/l (x1 x2/l

= - T x1 /l T (x1-x2)/l = - Tx1/l Tx1/l + Tx2/l mx1 + 2Tx1/l = Tx2/l NSL. For mass (2) mx2 = - T Sin + T Sin = - Tx2/l + T. (x1 x2)/l mx2 + 2Tx2/l = Tx1/l Let

..

----- (a)

..

..

----- (b)

..x1 = A Sin t, 2

x1 = - A Sin t

.. x2 = B Sin t 2

x2 = - B Sin t,

Substitute in (a) and (b) - m12 A Sin t + (2T/l) A Sin t = (T/l) B Sin t. Removing sin t throughout A [(2T/l) m12)] = B. (T/l) A/B = (T/l)/ [(2T/l) m12)] ----- (a1)

Similarly - m2 2. B Sin t + (2TB Sin t)/l = (T. A Sin t)/l B [(2T/l) m22)] = A. (T/l) A/B = [(2T/l) m22)]/T/l Equating (a1) and (a2) and cross multiplying (T/l)/ [(2T-lm12)/l] = [(2T lm22)/l]/(T/l) T2 = (2T lm1 2) (2T lm22) T2 = 4T2 2Tlm12 2Tlm22 + l2m1m24 l2m1m2 4 2Tl (m1 + m2) 2 + 3T2 = 0 Let = 2 Frequency Equation ----- (a2)

l2m1m2 2 2Tl (m1 + m2) + 3T2 = 0 1, 2 = [2Tl (m1 + m2) [{2T (m1 + m2)l}2 4 l2m1 m2 3T2)] / 2 m1 m2 l2 Let = m1 = m2 = m 1.2 = [2Tl (m + m) [2T (2ml)2 4l2m2. 3T2)] / 2. m2. l2 = 4mTl [(4mTl)2 12 m2 l2 T2] / 2m2l2 On further simplification 1 = n12 = T/ml n1 = (T/ml) 2 2 = n = 3T/ml n2 = (3T/ml) Mode Shape: A/B = (T/l)/[(2T/l) m1 2] I mode: A/B = 1 II mode: A/B = -1 A/B = -1 if A = 1, B = +1

if A = 1, B = -1

(A/B)n1 = 1

m1

m2

X1 I Mode m1 X1 Node

X2

(A/B)n1 = -1

Semi Definite Systems or Degenerate System

II Mode

m2

Eg: Coupled locomotive

Systems for which one of the natural frequencies is equal to zero are called semi definite systems. X1 K m1

X2 m2

FBD: X1 m1 KX2 KX1 K (X2 X1) K (X2 X1) KX2 KX1 m2 X2

x2 > x1

m1 Mass (1) .. m1 x1 = K (x2 x1) m1 x1 + Kx1 = Kx2 m2 x2 = - K (x2 x1) m2 x2 + Kx2 = Kx1 Let

m2

..

----- (1)

.. ..

----- (2)

..x1 = A Sin t, 2

x1 = - A Sin t

.. x2 = B Sin t 2

x2 = - B Sin t,

Substitute in (1) and (2) m1 (- 2 A Sin t) + K A Sin t = K B Sin t Further simplifications leads to A/B = (K)/ [K m1 2] ----- (3)

m2 (- 2 B Sin t) + K B Sin t = K A Sin t Further simplifications leads to A/B = [K m2 2] / (K) ----- (4)

Cross multiplying and simplifying further m1 m2 4 K (m1 + m2) 2 = 0 2 [m1 m2 2 K (m1 + m2)] = 0 Finding the roots we get the natural frequencies 1 = n1 = 0 2 = n2 = [{K(m1 + m2)}/(m1 * m2)] When one of the roots of the frequency equation is zero, one of the natural frequencies is zero. Such systems are referred as semi definite systems. The system will move as a rigid body without any distortion of spring. The amplitudes of two masses are equal. They are also referred as free-free system. Mode Shapes: I mode: (A/B)n1 = (K)/ [K m1 2] n1 = 0 (A/B)n1 = 1 0 m1 A=1 Node m1 0 A =1 I mode m2 0 B =1 Frequency equation

II mode:

.
B=-1 0 m2

II mode

(A/B)n2 = (K)/ [K m1 2] n2 = [{K(m1 + m2)}/(m1 * m2)] if m1 = m2 =m Then (A/B)n2 = -1 6. Determine the natural frequency and mode shapes of the system shown in Figure. Given m1 = 10 kgs, m2 = 15 kgs, K = 320 N/m X1 K m1

X2 m2

Solution: It is a free free system Free body diagram

x2 > x1
X1 m1 KX2 KX1 K (X2 X1) K (X2 X1) KX2 KX1 m2 X2

Frequencies n1 = 0

m1

m2

n2 = [K (m1 + m2)/(m1 * m2)] n2 = [{320(10 + 15)}/ (10*15)] = 7.30 rad/sec

Mode Shapes I mode

(A1/A2)n1 = 1.0, if A = 1, B = 1 m1 0 A =1 I mode II mode (A1/A2)n2 = (K)/[K m1n22] = 320 / [320 10 * (7.30)2] = - 1.49 if A = 1, B = -0.671 0 m1 A=1 m2 0 B =1

Node II mode

.
0 m2 B = - 0.671

7. An electric train made of two cars each of mass 2000 kgs is connected by couplings of stiffness equal to 40 * 106 N/m. Determine the natural frequency of the system.

m1 K

m2

Coupled Cars
Solution: This is an example similar to problem No. 6 only the answer are given here.

Given m1 =m2 = 2000 kgs. K = 40* 106 N/m n1 = 0 n2 = (2K/m) = (2*40*106) /2000

n2 = 200 rad/sec

Analysis of Two DOF Torsional Systems

Figure above shows a two rotor system which can be represented as follows.

J1

Kt

J2

Free body diagram is as given below.

1 Kt 2 Kt 1

J1 Kt 1 Kt 2

J2

1 Kt ( 1 - 2)

Kt ( 1 - 2)

2 Kt ( 1 - 2)

Kt ( 1 - 2)

1 and 2 in CCW direction looking from left. NSL for Rotor (1) J..1 = - Kt (1 - 2) 1 J1 1 + Kt 1 = Kt 2 For rotor (2) .. J..2 = + Kt (1 - 2) 2 J2 2 = + Kt 1 Kt 2 J2 2 + Kt 2 = Kt 1 Let,

..

----- (1)

..

----- (2)

..1 = A sin t, 2

..2 = B sin2 t 1 = - A sin t, 2 = - B sin t Substituting the above in 1 and 2 and simplifying we get the amplitude ratios and frequency equation as follows.
A/B = Kt/[Kt J12] ----- (a1) A/B = [Kt J22] / Kt Frequency equation J1 J2 4 (J1 + J2) Kt 2 = 0 2[J1J22 (J1 + J2) Kt] = 0 2 = 0, and or J1 J2 2 (J1 + J2) Kt = 0 n22 = [(J1 + J2) Kt] /J1 * J2 n2 = [{(J1 + J2) Kt}/ J1 *J2] 8. Determine the natural frequency of Torsional vibrations of a shaft with two circular disks of uniform thickness at its ends. The masses of the discs are m1 = 500 kgs and m2 = 1000 kgs and their outer diameter D1 = 125 cm and D2 = 190 cm. The length of the shaft is 3 m and its diameter = 10 cm. Modulus of rigidity for shaft material of the shaft G = 0.83 * 1011 N/m2 Also determine in what proportion the natural frequency of the shaft gets changed if along half the length of the shaft the diameter is increased from 10 cm to 20 cm. Solution: Part (1) For free body diagram and expression for frequencies refer previous discussion. m1 = 500 kg m2 = 1000 kg D1 = 1.25 m D2 = 1.9 m l = 3.00 m d = 0.10 m G = 0.83 * 1011 N/m2 Two rotor system is a semi definite system whose natural frequency is given by n1 = 0 n2 = [{(J1 + J2) Kt}/ J1 *J2] n1 = 0 ----- (a2)

n = [Kt(J1 +J2)/J1J2] J1 = m1 R12 = 98 kg m2, J2 = m2 R22 = 453 kgm2

Kt = GIp/l = [0.83 * 1011 / 3.00] *[ (d4)/ 32] = 2.725 * 105 N-m/ rad n2 = 58.1 rad/sec Part (2): Since the diameters are different along the length equivalent stiffness is to be determined as follows.

J1

Kt1

Kt2

J2

Kte J1 J2

Equivalent System Given, d1 = 10 cm, d2 = 20 cm, l1 = l2 = 1.5 m 1/Kte = 1/Kt1 + 1/Kt2 Kte = 5.13 * 105 N-m/rad n2 = 79.597 rad/sec Hence there is 37% increase in the natural frequency of the system. 9. Determine the frequency equation, natural frequency and mode shapes for a double pendulum shown in figure.

Given m1 = m2 l1 = l2 = l

l1 m1 l2 m2

Free body diagram

l1 T1 m1 T2 2 x1 m 1g x2 m 2g l2 T2

m2

T1 T1Cos 1 1 T2Sin 2 T1Sin 1 2 m1g T2Cos 2 T2 T2 2 T2Sin 2 T2Cos 2

Considering only the oscillation Applying NSL for mass (1) m1 x1 = - T1 sin 1 + T2 sin 2 but x1 =l1 x1 = l1, x2 =.. 1 + l2 .. l .. x2 = l1 + l2 m1 l1 = - T1 sin 1 + T2 sin 2 At mass (1)

m2g

..

..

..

..

----- (a) ----- (1)

T1 cos1 = mg + T2 cos2

At mass (2) T2 cos2 = mg 2 being very small cos = 1 T2 = mg T1 = mg + mg T1 = 2mg ----- (2)

..

----- (3)

..

ml1 = - 2 mg sin 1 + mg sin 2 l 1 + 2g 1 - g 2 =0 Similarly for mass (2) mx2 ----- (b)

..

= - T2 sin 2

T2 cos 2 = m2 g,

T2 = mg

..

ml (1 + 2) + mg 2 = 0 l 1 + l 2 + g 2 = 0

..

..

= - mg sin 2 = - mg2

..

----- (c)

Equations (b) and (c) represent GDE

..

Let 1 = A sin t 1 = - A sin t,

2

..

2 = B sin t 2 = - B 2 sin t

Substitute in (b) and (c) - l2 A sin t + 2 g A sin t g B sin t = 0 A (2g - l2) = Bg A/B = g/[2g-l 2] ----- (b1)

-l2 A sin t - l2 B sin t = - g B sin l A/B = (l2 g)/l2 A/B = [g - l 2] / l 2 ----- (c1)

Equating b1 and c1 and cross multiplying we get frequency equation. l2 4 4gl 2 + 2g2 = 0 Let = 2 l2 2 4gl + 2g2 = 0 frequency equation

The roots are 1 = 0.5857 g/l = n12 n1 = 0.7655 (g/l) 2 = n22 = 3.414 g/l 2 = n2 = 1.847 (g/l) Mode shapes I mode (A/B)n1 = g /[2g - ln12] = 1/1.4143

A/B = 1/1.4143 A = 1, B = + 1.4143

II mode (A/B)n2 = g /[2g - ln22] = 1/-1.4143

A = 1,

B = -1.414

Session- ()CSM Ch-1

1.INTRODUCTION
1.1 The study of vibration A body is said to vibrate if it has periodic motion. Mechanical vibration is the study of oscillatory motions of bodies. Vibrations are harmful for engineering systems. Some times vibrations can be useful. For example, vibratory compactors are used for compacting concrete during construction work. Excessive vibration causes discomfort to human beings, damage to machines and buildings and wear of machine parts such as bearings and gears. The study of vibrations is important to aeronautical, mechanical and civil engineers. It is necessary for a design engineer to have a sound knowledge of vibrations. The object of the sixth semester course on mechanical vibrations is to discuss the basic concepts of vibration with their applications. The syllabus covers fundamentals of vibration, undamped and damped single degree of freedom systems, multidegrees of freedom systems and continuous systems. 1.2 Examples of vibration 1.Beating of heart 2. Lungs oscillate in the process of breathing 3. Walking- Oscillation of legs and hands 4. Shivering- Oscillation of body in extreme cold 5. Speaking - Ear receives Vibrations to transmit message to brain 6. Vibration of atoms 7. Mechanical Vibrations 1.3 Classification of vibrations One method of classifying mechanical vibrations is based on degrees of freedom. The number of degrees of freedom for a system is the number of kinematically independent variables necessary to completely descibe the motion of every particle in the system. Based on degrees of freedom, we can classify mechanical vibrations as follows: 1.Single Degree of freedom Systems 2.Two Degrees of freedom Systems 3.Multidegree of freedom Systems 4.Continuous Systems or systems with infinite degrees of freedom Another broad classification of vibrations is: 1. Free and forced vibrations 2. Damped and undamped vibrations. Sometime vibration problems are classified as: 1.Linear vibrations 2. Non-linear vibrations 3. Random vibrations

4.Transient vibrations A system is linear if its motion is governed by linear differential equations. A system is nonlinear if its motion is governed by nonlinear differential equations. If the excitation force is known at all times, the excitation is said to be deterministic. If the excitation force is unknown, but averages and standard derivations are known,the excitation is said to be random. In this case the resulting vibrations are also random. Some times systems are subjected to short duration nonperiodic forces. The resulting vibrations are called transient vibrations. One example of a nonperiodic short duration excitation is the ground motion in an earthquake The main causes of vibrations are: 1. Bad design 2. Unbalanced inertia forces 3. Poor quality of manufacture 4. Improper bearings (Due to wear & tear or bad quality) 5. Worn out gear teeth 6. External excitation applied on the system The effects of vibrations are as follows: 1. Unwanted noise 2. Early failure due to cyclical stress(fatigue failure) 3. Increased wear 4. Poor quality product 5. Difficult to sell a product 6. Vibrations in machine tools can lead to improper machining of parts 1.4 Basic terms associated with vibrations FREE VIBRATIONS Vibrations under free or natural conditions. No disturbing forces. Example: - Simple Pendulum

Fig 1.1 (a) Simple pendulum

FORCED VIBRATIONS
Vibration due to impressed disturbing force Examples 1.Electric bell-clipper oscillation under electromagnetic force. 2.I.C Engines-vibrations due to unbalanced inertia forces

DEGREES OF FREEDOM

m1

m1

m1 Single D.O.F Fig 1.1 (a)

m2 Two D.O.F

m2

Fig 1.1(b)

m3 Three D.O.F Fig 1.1( c)

Cantilever Beam

Continuous system

Infinite Degrees of Freedom

Fig 1.1( d )

1.5 SIMPLE HARMONIC MOTION (S H M)

The oscillations of the mass shown in fig 1.1 (a ) are described as simple harmonic motion. . Simple harmonic motion is represented graphically in fig 1.2

X-Displacement A-amplitude T-Periodic Time f-Frequency f=1/T =Frequency in radians per second t= time

t
X= A sin t

X
Fig 1.2 SHM Simple harmonic motion is characterized by periodic oscillation about the equilibrium position. Each oscillation is one cycle. For S.H.M the time taken to execute one cycle, the period, is constant. The frequency of motion is the number of cycles executed in a fixed period of time, usually 1 second. The amplitude, the maximum displacement from equilibrium position, is also constant in S.H.M.

.
X=Velocity = A cos t =A sin ( t + /2 )

..
X=Acceleration = - A sin t = A sin (t + ) = - x

PROPERTIES OF OSCILLATORY MOTION

Peak value- Indicates space requirement. An indication of maximum stress in the vibrating part Average Value - Average value for complete sine wave is zero For half sine wave X = 2A / A-Amplitude Mean square value - For sine wave X =1/2 A RMS Value = A / 2 Problem 1 The frequency of Vibrations of a machine is 150 Hz. Determine a) Its frequency in rad/sec. b)Time Period of oscillations. If the amplitude of vibrations is 0.8 mm, determine the acceleration a) In m/s b) In terms of g Solution: Given f = 150 Hz , A= 0.8 mm w= ? T=? a = ? (in m/s) a = ? (in terms of g) w=2 f = 2 (150) = 942 Rad/sec T= 1/f=1/150= 0.0066 sec = 6.66 milli seconds x = A sin ( t + ) = 0.8 sin ( 942 t + )

. x = 0.8 (942) cos (942 t + ) ..

x = - 0.8 (942)2 Sin (942 t + ) a = (x ) max = 0.8 (942)2 mm/s2 = 710.61 m/s2 = 710.61/9.81= 72.43 g

Problem 2. A body suspended from a spring vibrates vertically up and down between two positions 3 and 5 cms above the ground. During each second it reaches the top position (5 cms above ground) 15 times. Find the time period, frequency, circular frequency and amplitude of motion. Solution:

Amplitude = (5-3)/2 =1 cm. f = Frequency =15 cps T = Period = 1/15 Sec

= Circular Frequency = 2 f = 2 (15) =30 rad/sec

1.6 Addition of harmonic motions of same frequency

x1= A1 Sin t x2 = A2 Sin (t + ) X = x1+ x2 = A1 Sin t + A2 Sin (t + ) X = Sin t (A1+ A2 Cos ) + Cos t (A2 Sin ) Let A1+ A2 Cos = A Cos -------- 1 A2 Sin = A Sin -------- 2 X = Sin t (A Cos ) + Cos t (A Sin ) X= A Sin (t + ) A2 (Sin2 + Cos2 ) = (A1 + A2 Cos )2 + (A2 Sin )2 A = A12 + A22 + 2 A1 A2 Cos ) From equations 1 and 2 we also get Tan = A2 Sin / (A1 + A2 Cos )

Graphical Method for addition of two harmonic motions

A A2

A1 t

SUM OF HARMONIC MOTIONS

Same frequency but different phase angles

Sum of two harmonic motions of slightly different frequencies and same amplitude

Beats Is also a harmonic motion of the same frequency Continuous build up and decrease in amplitude

1.7 BEATS
The phenomenon of beats occurs when two harmonic motions of slightly different frequencies and same amplitude are added. When the two harmonic motions are in the same phase, the resultant amplitude will be maximum. On the other hand, when the two motions are out of phase, they will provide minimum amplitude vibration. X1 = A Sin 1t X2 = A Sin 2t X = X1+ X2 =A Sin 1t + A Sin 2t Let

= 2 A Sin (1+ 2)t Cos (1- 2)t X = Sin [(1+ 2)t ]/2 When B= 2 A Cos [(1- 2)t]/2 The Frequency of beats is (1- 2)/2 Hz

Graphical representation of Beats

1.8 Fourier series analysis

Forces acting on machines are generally periodic but this may not be harmonic for example the excitation force in a punching machine is periodic and it can be represented as shown in figure 1.3. Vibration analysis of system subjected to periodic but nonharmonic forces can be done with the help of Fourier series. The problem becomes a multifrequency excitation problem. The principle of linear superposition is applied and the total response is the sum of the response due to each of the individual frequency term. Example :- Excitation force is periodic

Force 5000 N

0.2

0.5

0.7

1.2

Time in sec Force Developed during punching operation With the help of Fourier series vibration analysis of such problems can be done

Fourier Series

X(t)= ao/2 + (an cos nt) + bn sin nt)

n=1

= 2 / T = Fundamental frequency ao, a1,a2,b1,b2.. are coefficients of infinite series (a1cos t+ b1sin t) is First Harmonic 2/ 2/ ao= / x(t) dt , an= / x (t) cos (nt)dt o o

bn= / Problem 1.

x(t) sin(nt)dt

Develop the Fourier Series for the curve shown in figure

The function is defined as y=x (t)

-<t<

X(t)= ao/2+ a1cos t+ a2 cos 2t + + b1Sin t+ b2 Sin 2t + The equation for the curve for one cycle for AB , X(t)= t - <t<

= 2 / T = 2 / 2 = 1 ao= 1/

tdt =0 -

an= 1/ p

t cos nt dt = 0

The graph is symmetrical about the origin and the function is odd ao= an = 0
bn= 1/

t sin nt dt = (2/n) (-1) n+1

= - (2/n) Cos n

X(t) = (2/1)(-1)2 Sin t +(2/2) (-1)3 Sin 2t + X(t) = 2 ( Sin t (Sin 2 t)/2 + (Sin 3t) /3 -... ) = 2 (Sin t (Sin2t) / 2 + (Sin 3t) / 3 - )

The first four harmonics of the series are 2Sint, - Sin 2t ,(2/3) Sin 3t, - (1/2) Sin 4t

They are plotted as numberd curves in the figure. The sum of the first four harmonies is y = x(t) = 2 Sin t Sin 2t + (2/3) Sin 3t (1/2)sin 4t Since this is a partial sum of the Fourier series, it may be expected to approximate the function x. The sum of the four terms is shown in figure Problem: Find the Fourier series of the periodic function shown in figure

f(x)

x
-2 f(x)=0 f(x)= a0 =1/ - 0 2 if - x 0 if 0 x 0 ( 0 dx + dx ) = 0 Cos nx dx = 0 sin nx dx = 1/n(1-cosn)

an = 1/

- 0

n1

bn=1/

The factor (1-cos n ) assumes the following values as n increases n (1-cos n) 1 2 2 0 3 2 4 0

5
2

f(x) = /2 + 2sin x +(2/3)sin3x + (2/5)sin 5x +..

= /2 + 2 ( (sin x)/1 + (sin 3x)/3 +(sin 5x)5 +...

1.Shows sum of one term i.e y= /2 2.Shows sum of two terms i.e y= /2 + 2 sin x 3.Shows sum of three terms i.e y= /2 + 2(sin x +(1/3) sin x )

1.9 SOLVING A VIBRATION PROBLEM

The following steps are involved in solving a vibration problem 1. Problem Identification 2. Mathematical modeling 3. Setting up the differential equation of motion 4. Interpretation of results

Session- ()CSM Ch-2 2. UNDAMPED FREE VIBRATION 2.1 Introduction Free vibrations are oscillations about a systems equilibrium position that occur in the absence of an external excitation force. If during vibrations there is no loss of energy, it is known as undamped vibration. The first step in solving a vibration problem is setting up the differential equation of motion. The three approaches to setting up differential equation of motion are as follows SETTING UP THE EQUATION OF MOTION 1.Use DAlemberts Principle

..
Forces -m x = 0

..
Torques - I = 0 m = Mass x = Displacement m x = Inertia Force, = Angular Displacement I = Mass Moment of Inertia,

..

..
I = Inertia Torque DAlemberts Principle states that the resultant of all forces acting on a body along with the inertia force is equal to zero. For a rotational system we have to consider torques instead of forces. Using DAlemberts Principle we can setup the differential equation of motion. Alternatively, we can get the differential equation of motion by applying Newtons second law of motion. The third approach to setting up the equation of motion is to apply energy method. 2.2 Spring mass system Fig 2.1 shows a one degree of freedom simple spring mass system. It represents several practical systems. Free vibrations of a system with a single degree of freedom is one of the most important topics. In fig 2.1 the co-ordinate x is used to describe the position of the mass. The mass and spring are the basic building blocks for vibrational analysis. Spring stiffness is defined as the force required to elongate or compress the spring by unit length. The differential equation of the spring mass system is set up by considering all the forces and applying DAlemberts Principle Spring mass system represents several practical systems

Examples: 1. Machine mounted on isolators 2. Mass m attached to the end of a cantilever beam

K-Spring stiffness in N/m m-Mass in Kg

m Free body diagram

mx

..

Figure 2.1

..
m x = Inertia Force Kx = Spring Force, = Static deflection of spring K = Force due to static deflection mg = Gravitational pull

..
m x + Kx + K - mg = 0

..
m x + Kx = 0 Linear homogeneous second order differential equation X=A sin n t + B cos n t

= C sin (n t + ) n= K /m = Natural Frequency of vibrations This is the only frequency with which the system vibrates when disturbed and let free . The natural frequency is a characteristic property of the vibrating system. The amplitude of oscillations C and the phase angle can be determined by applying the initial conditions. Problem A small Pelton wheel rotating at 1500 rpm has a rotor of mass 10 Kg mounted at the centre of a steel shaft which has a span of 0.4 m between bearings. What should be the diameter of the shaft , so that the transverse natural frequency is 50 percent higher than the running speed? Assume E for steel as 2x1011 pa. Rotor Steel shaft

0.4 m Equivalent system K= Equivalent stiffness m = Mass of rotor = Deflection at centre = Wl3/ 48EI K=W/ = 48EI / l3 E=Modulus of Elasticity = 2x1011 Pa

m I = d4/64 K = (48x2x1011 x d4)/ (0.43x64) = 3.68x1012 d4 N/m n= K/m = (3.68x1012xd4)/10 ----1

But n = (1.5x1500x2 )/60 Rad/sec---2 Equating 1 & 2 d= 0.0197 m= 1.97 Cm 2.3 NATURAL FREQUENCY IN TERMS OF STATIC DEFLECTION The figure2.2 shows how a spring elongated by when a mass is placed at the end of a spring. is known as static deflection. The natural frequency of vibration can be expressed in terms of static deflection as shown below = Static deflection K= mg / K m Fig 2.2 2.4 EQUIVALENT STIFFNESS OF SPRINGS IN PARALLEL K n= K/m = (mg) / ( m ) n= g /

K1

K2

Ke

m F Fig 2.3 x

F= Force applied x = Elongation of spring F= K1x + K2x = x(K1+ K2) Ke=F/x = K1+ K2 = Equivalent stiffness

SPRINGS IN SERIES F= Applied Force x1= Elongation of Spring 1 x2= Elongation of Spring 2 x= x + x2 = F/K1 + F/K2 = F(1/K1 +1/K2) x = F( (K1+K2)/ (K1 K2)) Ke= Equivalent Stiffness = F/x = ((K1 K2)/ (K1+K2))

K1

K2

F 2.5 ROTATIONAL SYSTEMS In the case of rotational systems,the differential equation of motion is obtained by adding the inertia torque to the sum of external torque and equating the sum to zero External Torques + Inertial Torque = 0 Compound Pendulum

O is Point of Suspension h is distance from O to G G is Centre of Gravity I is M.I about O = mk2 + mh2, m is mass of the pendulum K is Radius of Gyration is angular displacement Restoring Torque = hW sin

..

CW

Inertia Torque = I

CW

Reference Point for taking torques is O

.. ..

I + h mg sin = For small amplitude oscillation sin I + mgh = 0 n = mgh / I = gh /( k2 + h2 ) Problem The mass of the slender uniform rod shown in the figure is small compared to the mass attached to it. For small oscillations, calculate the natural Frequency of vibrations of the mass o

Ka

F.B.D

..
Mo +I0 = 0

mg

..
m l2 +Ka a cos + mg sin x l = 0 For small , cos 1 & sin

..
+ (Ka2 +mgl )/ml2 = 0

..

+ ((Ka2 +mgl)/ml2) = 0

n = (Ka2 +mgl)/ ml2 Problem A connecting rod of mass 2Kg oscillates 53 times in 1minute when suspended as shown in fig. Determine its moment of inertia about its centre of gravity, which is located 25 cm from the point of support

25 G

m = 2 Kg, fn= 53 cpm, n= 2fn = (2 53 )/60 = 5.55 rad/sec n= (gh)/(K2+h2) 5.55 = ( (9.81x 0.25)/(K2 + 0.252) K2 = 0.017126 I G = m K2 = 2x 0.017126 = 0.034252 Kg m2

Problem Determine the effective mass at a point o of a uniform rod of mass m and length l pivoted at a distance nl from o as shown in figure. l nl O K A

A X Knl

IA

Free body diagram Treated as rotational system Inertia torque + External torque = 0

..

IA +Knl (nl) = 0 IA= Mass M.I. about A = ml2/12 + m (l/2-nl)2 = ml2/3(3n2-3n +1) x= nl = x / nl

.. ..

..

IA / (n2l2) + Kx = 0

..

Equivalent system me x + K x = 0 me= Effective mass at 0 me= IA/( n2l2) = ml2 (3n2-3n +1)/ (3n2l2) me= m ((3n2-3n +1)/3n2)

me

Problem The contour of a bumpy road is approximated as y(x) = 0.03 sin(0.125x) mts. What is the amplitude of vertical acceleration of the wheels of an automobile as it travels over the road at a constant horizontal speed of 40 m/s ?

Bumpy road

A x

50.26

Body

Wheels y(x) = 0.03 sin(0.125x) mts. A = Amplitude = 0.03 m sin(0.125x) = 0 for x = 0 0.125x = 2 x = 2/0.125 = 50.26 m

T = Periodic time = 50.26/40 = 1.256 sec. = 2/T = 2/1.256 = 5.002 rad/sec y = ASin t . y= A Cost

..
y = - 2 A Sint Maximum vertical acceleration of wheels = 2A = (5.002)2 (0.03) = 0.75 m/s2 2.6 ENERGY METHOD The differential equation of motion can also be derived using energy method. In a conservative system the total energy is constant. In a vibrating system the energy is partly potential and partly kinetic. For a conservative system Total energy = Constant T + U = Constant T = Kinetic Energy U = Potential Energy

m x

.
T=mx2/2 = Energy stored in the spring x = 0 = 0 ( Spring force) dx - mgx x

( mg + Kx) dx mgx

= mgx + Kx2 /2 mgx = Kx2 /2 d/dt (T + U) = 0

.
d/dt (m x2 /2 + Kx2/2 ) = 0

..
mx +Kx=0 2.6.1 RAYLEIGHS METHOD Rayleighs method is also an energy approach to solving vibration problems. In this method we equate the maximum kinetic energy at one extreme position to the maximum potential energy at another extreme position. The motion is assumed to be simple harmonic and the natural frequency is obtained as indicated below. Total Energy of the system = ( K.E)max = ( P.E)max

x= A Sin t (x)max = A

. .
( x)max = A w

x = A Cos t

.
( K.E)max = m x2max /2 = m(A )2/2 ( P.E)max = Kx2 max /2 = K A2 /2 m(A )2/2 = K A2 /2 m 2 = K = K/m rad/sec

2.7 EFFECT OF MASS OF SPRING

= Mass per unit length of spring K.E. of the system = K.E of mass + K.E of spring 1 . . K.E. of the system = mx2 /2+ . 0 =

( dy)(y x
. . . .

/l )2 /2 1 0

m x 2 /2+( x / 2l2 )

(y dy)
2 l 0

.
=

m x2 /2+( x2 / 2l2 )(y3/3)

.
=

m x2 /2+( l3/ 6l2) x2 = (m + l/3)x 2 / 2

Total Energy= K.E + P.E = (m + l/3) x2 / 2 +Kx2 /2 d/dt( K.E + P.E ) =0

.
d/dt[(m + l/3) x2 /2 + K x2/2 ] = 0

2/2(m+ l/3)

+ 2/2 K x x

=0

.
(m+ l/3) x + Kx = 0 n= K / (m + l /3) l =Mass of Spring 2.8. Problems

U Tube Problem = Density of liquid, A= Cross sectional Area of tube, l= Length of liquid column in tube K.E = m x 2 /2 = (lA ) x2 /2 P.E = (A x)gx = A g x2 d/dt[ K.E + P.E ] = 0

d/dt [ (lA ) x 2 /2+ A g x2] = 0

. ..
lA x

x+2gx x =0

..
lx+2gx=0 n = (2g/l) rad/sec

Problem A circular cylinder of mass m and radius r is connected by a spring of stiffness K as shown in figure. If it is free to roll on the rough surface which is horizontal without slipping, find its natural frequency

Let m = Mass of the cylinder I = Mass M.I of cylinder = mr2/2 x= Linear displacement of cylinder = Angular motion of cylinder x=r Total Energy of the system = K.E of translation +K.E of rotation + P.E

.
=m x2/2

.
+ I 2 /2 + K x2 /2

.
= m(r )2 /2

.
+ I 2 /2 + K (r )2 /2

.
d/dt( K.E + P.E) = 0

= m r 2 2 /2+ I 2 /2+ K r2 2/2

. .. .. .. ..
+ mr /2) + r = 0
2 2

. ..

mr2 (2 )/2 + I (2 ) /2+ K r2 (2 )/2 =0

mr2 +I + Kr2 = 0 (mr2

n = 2K / 3m

Rad/sec

Contents 1. Introduction 2. Methods of Obtaining Governing equations 3. Equations in Matrix Form 4. Influence Coefficients 5. Methods of Finding Natural Frequencies and Mode Shapes

8.1. Introduction
8.1.1. Definition: - The number of degrees of freedom of any structural system is the number of kinematically independent coordinates required to describe the motion of every particle that constitute the system. It is determined by the number of inertial elements and the number of coordinates required to describe the motion of each inertial element.
Examples of M-D-F Systems

Inertial element

Fig.8.1 (a): Two-degree-of freedom system with one inertial element and two independent coordinates y and for one inertial element. y m1

k1

k2 m2

Fig. 8.1(b) : Two degree-of-freedom system with two inertial elements each having independent coordinate y1 and y2 to describe their motion.

8.2. GoverningEquations
1. Force-Balance Method and Moment Balance Method 2. Energy Method (Lagranges Equations)

Note: - We restrict our discussion only to the force-balance method/moment balance method for obtaining the equations of motion of the given sys0\tem

Force Balance Method This method is nothing but the application of DAlemberts principle for rectilinear motion (Eg. Linear Spring-Mass Systems). It states that for dynamic equiibrium, the algebraic sum of all the forces including the inertia forces is equal to zero. Moment Balance Method This method is the application of DAlemberts principle for angular motion (Eg. Torsional Systems), which states that for dynamic equilibrium, the algebraic sum of all the moments including the inertial moment about any point in the system is equal to zero. Note: - Certain systems can have both rectilinear and angular motions. For such systems both the methods have to be used to get the required equations of motion Equations for ALinear Spring-Mass-Damper System Force balance for m1 gives the following equation : m11 + k1y1 + k2(y1 y2) + c11 +c2(1 2) = F1(t) Force balance for m2 gives the following equation: m22 k2(y1 y2) + k3y2 c2(1 2) + c32 = F2(t) ..[8.1(b)] .[8.1(a)]

8.3. Equations In Matrix Form

The two equations 8.1(a) and 8.1(b) can be written in matrix form as shown below. Equation 8.2 is normally written in short form as + [cij]{i} + [kij]{yi} = {Fi(t)} ..(8.3) [mij]{i}

m1 Where [mij] 0

(c1 + c2) c2

; [cij] =
m2 m1 0 0c2 (c2 + c3) (c1 + c2) c2 ; [cij] =

Where [mij] (k1 + k2) k2

1
k2

[kij] =

k2

(k2 + k3) ; {i} = (k1 + k2) k2

m2

;{i}=

c2

(c2 + c3)

[kij] =
Governing Equations (contd)

(k2 + k3)

; {i} = 2

1 ;{i}=

The matrix [mij] is called the mass matrix, the matrix [cij] Is called the damping matrix, the matrix [kij] is called the stiffness matrix. The column vector {yi} is called the displacement

vector, {i} is called the velocity vector, and {i} is called the acceleration vector. The mass matrix, the damping matrix and the stiffness matrix are symmetric matrices. A matrix [aij] is called a symmetric matrix if it is a square matrix with aij = aji. The off-diagonal elements of the mass matrix are zero, where as the off-diagonal elements of the damping matrix and the stiffness matrix are not zero. Equations for a Torsional System Oil housing with damping ct1

kt1

Rotor with inertia J1 kt2 Oil housing with damping ct2

Rotor with Inertia J2

Fig.8.4: Torsional system with two degrees of freedom

Free-body diagrams

Equations Fig.8.4 Moment following .. .

for system shown in balance for J1 gives the equation:

1 2
kt11 + kt2 (1 2) = 8.4(a) balance for J2 gives the equation:

J11 + M(t) Moment following .. .

J22 + ct22 +kt2 (2 1) = 0 8.4(b)

Equations 8.4(a) and 8.4 (b) can be written in matrix form as follows.

J1 0

0 J2

ct1

..
2

(kt1+kt2)

+
kt2 kt2 2

1 +

ct2

kt2

1 =

M(t) (8.5) 0

Eq. 8.5 can be written in a more compact form as: .. . [Jij] {i} + [ctij] {i} + [ktij] {i] = {Mi(t)} ..8.6. As in the case of spring mass system, here also, the moment of inertia matrix [Jij], the damping matrix, [Ctij], and the stiffness matrix, [ktij] are symmetric matrices and the offdiagonal terms of the inertia matrix are zero. General Form of Equations for an N-Degree-of - Freedom System The general form of equations for an N-degree-of-freedom system can now be written as follows: [M]{ } + [C] {} + [K] {y} = {F(t)}8.7 for a spring-mass-damper system, and .. . [J] {} + [Ct]{} + [Kt] {} = {M(t)} 8.8 For a torsional system.

8.4. Influence Coefficients

Stiffness Influence Coefficients: - The elements of the stiffness matrix [kij] are called stiffness influence coefficients. The physical interpretation of kij is that kij represents the restraining force at station i due to unit displacement at station j, all the other mass stations except station j is held fixed at the equilibrium position. Flexibility Influence Coefficients: - The governing equations of motion for a M-D-F system can also be expressed in terms of the flexibility influence coefficients. The flexibility influence coefficient aij is defined as the displacement at station i due to a unit force acting at station j. It can be shown that [aij] = Inverse of [kij] Maxwells Reciprocal Theorem :- The theorem states that the displacement at any point i in the system due to a unit load acting at any other point j in the same system is equal to the displacement at the point j due to a unit load acting at i in the same system.i.e.aij = aji Proof of Maxwells Theorem: - Consider a system shown in Fig. 8.6.

Fi point i

Fj point j

Fig. 8.6: A general system to prove Maxwells theorem

Let i and j be two points on the system where loads Fi and Fj can be applied. Now imagine that the two loads are applied as follows. (i) First load Fi is applied gradually from zero to its full value and then load Fj is applied at j gradually from zero to its full value with Fi acting all the time. For this arrangement the total work done by both the forces is calculated as follows. When load Fi is applied gradually at point i, the final displacement at i would be aiiFi. Since the load is applied gradually, the work done is given by (W)Fi = (1/2)Fi aiiFi Now when the load Fj is applied at point j gradually from zero to its full value with Fi acting at i all the time the work done is given by (W)Fj = Work done by Fi + Work done by Fj = Fi aijFj + (1/2)Fj ajjFj Total work done = Wtotal = (W)Fi + (W)Fj = (1/2)Fi aiiFi + Fi aijFj + (1/2)Fj ajjFj Similarly when Fj is first applied gradually and then Fi is applied gradually with Fj acting all the time the total work done is given as follows: Total = (1/2)Fj ajjFj + Fi aji Fj + (1/2)Fi aiiFi The total work done should be the same for both the cases as the final deflection curve is same in both the cases. Therefore equating the two expressions for the total work done we have aij = aji

Determination of Influence Coefficients(Illustrative examples)

Example 8.1: To find the stiffness influence coefficients for the system shown in Fig.E8.1

k1

m1

k2

m2

k3

Fig. E8.1 : Schematic for example 8.1

To find k11 and k12:- By definition kij represents the force at station i due to unit displacement at j, all other stations being held fixed.Let m1 be displaced by a distance X1, keeping m2 held fixed. Then the free body diagram for m1 and m2 will be as shown in Fig.E8.1(a).

k1X1

m1
X1

k2X1

m2

Fig. E8.1(a): Free-body diagram when a displacement X1 is effected at m1 with m2 being held fixed.

Resultant force at station 1 = F11 = k1X1 k2X1 = (k1 + k2)X1 Therefore k11 = F11 / X1 = (k1 + k2) Or k11 = (k1 + k2) Resultant force at station 2 = F21 = k2X1 Therefore k21 = F21 / X1 = k2 Or k21 = k2. By Maxwells theorem k12 = k21 To find k22:- Let a displacement X2 be effected at m2 with m1 held fixed. Then the free-body diagram for m1 and m2 will be as shown in Fig.E8.1(b).

X2 m1 k2X2 m2 k3X2

Fig.E8.1(b): Free-body diagram when a displacement X2 is effected at m2 holding m1 fixed.

Total force acting on m2 = F22 = k2X2 k3X2 = (k2 + k3) X2 Therefore Or Therefore Or k22 = F22 / X2 = (k2 + k3) k22 = (k2 + k3) k12 = F12 / X2 = k2 k12 = k2 = k21 (as obtained earlier)

Also Total force on m1 = F12 = k2X2

Example 8.2 To obtain the flexibility influence coefficients for the system given in example 8.1 Let a force F1 be applied at station 1. Let X11 and X21 be the displacements at station 1 and station 2 due to this force. Then the free-body diagram for m1 and m2 will be as shown in Fig.E8.2(a).

F1 k1X11 m1

K2(X11X21)

m2

k3X21 X21

X11
Fig. E8.2(a): Free-body diagram when F1 acts on m1

Force balance for m1 gives, F1 = k1X11 + k2(X11 X21) Or Or F1 = (k1 + k2)X11 k2X21.(1) X21 = k2X11 / (k2 + k3)..(2) (k22X11) F1 = (k1 + k2)X11 ----------------(k2 + k3) Or a21 F1 = X11[k1k2 + k2k3 + k3k1] / (k2 + k3) .(3) = X21 / F1 = [X21 / X11] / [F1/X11] k2 / (k2 + k3) = ---------------------------------------[k1k2 +k2k3 +k3k1]/ (k2 +k3) k2 a21 = --------------------------------------- = a12 [k1k2 + k2k3 + k3k1] Therefore a11 = X11 / F1 = (k2 + k3) /[k1k2 + k2k3 + k3k1] Force balance for m2 gives k2(X11 X21) k3X21 = 0 Substituting this in Eq.(1) we get

To find a22:- Let a force F2 be applied at m2. The free-body diagram for the two masses will be as shown in Fig. E8.2(b)

F2 k1x12 m1 K2(x22 x12) m2 k3x22

Fig. E8.2(b): Free-body diagram when F2 is applied at m2

Force balance for m1 gives k1x12 k2(x22 x12) = 0 k2x22 Or x12 = ------------------- ..(3) (k1 + k2) Force balance for m2 gives F2 = k2(x22 x12) + k3x22 Or F2 = (k2 + k3)x22 k2x12. k22 x22 F2 = (k2 + k3)x22 ---------------------------( k1 + k2) x22[(k2 + k3)(k1 + k2) k22] Or F2 = ----------------------------------( k1 + k2) (k1k2 + k2k3 + k3k1) Therefore a22 = x22 / F2 = ---------------------------(k1 + k2) Substituting for x12 from Eq. (3) we get

Example 8.3 : To determine the flexibility influence coefficients for the system shown in Fig. 8.3

L1 1 2 L2 m2 3 L3 m3
Fig.8.3: Triple pendulum

m1

Let a force F1 be applied at m1 in the horizontal direction as shown in Fig. E8.3(a).

T1 1 m1 F1

x11 x21

x31

(m1 + m2 + m3)g Fig. E8.3(a): Free body diagram

Force balance in horizontal direction at m1 gives F1 = T1sin 1 and in vertical direction gives (m1 + m2 + m3)g = T1cos 1. For small oscillations, sin 1 = tan 1 and cos 1 = 1. Therefore F1 = (m1 + m2 + m3)g tan 1 = (m1 + m2 + m3)g x11 / L1 L1 Or a11 = x11 / F1 = -----------------------------(m1 + m2 + m3)g It can be seen from the free body diagram that x21 = x31 = x11. Therefore a21 = a31 = a11. Also by Maxwells reciprocal theorem, a12 = a21 and a13 = a31. Therefore L1 a11 = a21 = a12 = a31 = a13 = ------------------------(m1 + m2 + m3 )g Now let a horizontal force F2 be applied on m2. Then the free body diagram will be as shown in Fig. E8.3(b).

T2
1

2
2

L2 F2

m2

F2

x12 X22 = x32

(m2 + m3)g
Fig. E8.3(b): Free body diagram when F2 acts on m2

Force balance in horizontal direction gives F2 = T2 sin 2 and force balance in vertical direction gives T2 = (m2 + m3) g. For small oscillations sin 2 = tan 2 and cos 2 = 1 Therefore F2 = (m2 + m3)g tan 2 = (m2 + m3)g (x22 x12) / L2 Or x22 / F2 x12 / F2 = L2 / (m2 + m3)g Therefore a22 a12 = L 2 / (m2 + m3)g Or a22 = a12 + L 2 / (m2 + m3)g L1 (m1 + m2 + m3)g Also a32 = a22 L2 (m2 + m3)g a22 = -------------------------- + ------------------------

Let a force F3 be applied horizontally on m3. The free body diagram will be as shown below.

T3 1

x13

2 L3 3 x23 x33

m 3g F3

Force balance in the horizontal direction gives F3 = T3 sin 3 and in vertical direction it gives m3g = T3 cos 3.

For small oscillations, sin 3 = tan 3 and cos 3 = 1 Therefore F3 = m3g tan3 = m3g (x33 x23) / L 3 Or x33 / F3 x23 / F3 = L 3 / m3g Or a33 a23 = L 3 / m3g Therefore a33 = a23 + L 3 / m3g = a32 + L 3 / m3g L1 L2 (m1 + m2 + m3)g L3 (m2 + m3)g m3g Or a33 = ----------------------- + --------------------- + -----------

Example 8.4: Three equal springs of stiffness k are joined at one end and the other ends are arranged symmetricaly at 1200 from each other. Show that the stiffness influence coefficients of the junction in a direction making an angle with any spring is independent of and equal to 1 / (1.5 k). Solution to example 8.4

k
1200

o
1200

Fig. E8.4: Schematic for example 8.4

Let point o be displaced by a distance x in the direction oo making an angle with one of the springs as shown in Fig. E8.4(a).

o
600

600

Spring 3 Spring 2 Spring 1

Fig. E8.4(a) : Directions of the three springs with respect to oo

Component of the displacement x in the direction of spring1 = x cos . Spring force due to this displacement in the direction of spring 1 = kx cos . Component of this spring force in the direction oo = kx cos2. The direction of spring 2 with respect to oo = 60 Componenet of the displacement x in the direction of spring 2 = x cos (60 ). Spring force due to this displacement = kx cos (60 ) Component of spring force in the direction oo = kx cos2(60 )

Spring 3 makes an angle of (60 + ) with oo. Therefore the component of spring force 3 in the direction oo = kx cos2(60+). Total spring force due to all the three springs in the direction oo is given by Fx = kx cos2 + kx cos2 (60 ) + kx cos2(60+) = kx[cos2 +{cos 600cos sin 600sin }2 +{cos 600cos + sin 600sin }2] Or Fx = kx[cos2 + cos2 (3/2)cos sin + () sin2 + cos2 +(3/2)cos sin + sin2] = kx [1.5 cos2 + 1.5 sin2] = 1.5 kx Therefore displacement influence coefficient = x / Fx = 1 / (1.5 k) Example 8.5:

Determine the flexibility influence coefficients for the cantilever beam shown in Fig. E8.5

2m L/2
Fig.E8.5:Schematic for example 8.5

m L/2

Solution:- Let the location at which m is acting be designated as station 1 and the location at which 2m is acting be designated as station2. Now let only m be acting at station 1. Then the deflection curve and the bending moment diagram will be as shown in Fig. E8.5(a).

2
y21 L/2 L/2

1
y11

mgL

mgL / 2
Fig. E8.5 (a) : Deflection curve and B-M diagram when only mg is acting

Using moment-area method, y11 = Moment of the area of the B-M diagram about 1 / (EI) y11 = (1 / EI) (mgL) x L x 2/3 L = mgL3 / (3EI) Therefore a11 = y11 / mg = L3 /(3EI) Y21 = Moment of the area of B-M diagram up to 2 about 2 = (1 / EI) [mgL x L/2 x L/4 + (mgL/2) x L/2 x (2/3)L/2] = 5mgL3 / (48 EI) Therefore a21 = y21 /mg = 5L3 / (48 EI)

By Maxwells reciprocal theorem a12 = a21 = 5L3 / (48 EI) Now let only the load 2mg act at station2. The deflection curve and the B-M diagram will be as shown in Fig. E8.5(b).

8.6.Matrix Iteration Method

1. Introduction: - This is the most commonly used method among the iterative methods for determining the natural frequencies (eigen values) and the corresponding mode shapes(eigen vectors) If we are using the flexibility coefficients to write the equations of motion, then this method will lead to the lowest natural frequency of the system and the higher natural frequencies are obtained by using the orthogonal property between any two principal modes and the sweeping matrix. On the otherhand if we use the stiffness influence coefficients to write the governing equations of motion, this method will lead to the highest natural frequency and using the sweeping matrix method the remaining natural frequencies can be obtained. 2.Orthoganality between principal modes :- Let us consider the equations of motion for an n degree-of-freedom system expressed in terms of stiffness influence coefficients. These equations in matrix form for free harmonic oscillations can be written as follows. 2[mi]{xi} + [kij]{xi} = {0} .8.6.1. Where [mi] = mass matrix with off-diagonal elements equal to zero, {xi} = Amplitude vector, and [ki j] = Stiffness matrix. Or 2 [mi]{xi} = [ki j]{xi} 8.6.2 r2 [mi] {xi}r = [ki j] {xi}r ..8.6.3 where {xi}r is the amplitude vector corresponding to the natural frequency r. Similarly for another natural frequency s, we can write the equation 8.6.2 as follows: s2 [mi]{xi}s = [ki j] {xi}s 8.6.4. Pre-multiplying Eq. 8.6.3 by by transpose of {xi}s and Eq. 8.6.4. by transpose of {xi}r we get r2 {xi}sT[mi] {xi}r = {xi}sT [ki j] {xi}r .............................8.6.5 and s2 {xi}rT [mi] {xi}s = {xi}rT [ki j] {xi}s 8.6.6 {xi}sT[mi] {xi}r = {xi}rT[mi] {xi}s ..8.6.7 and {xi}sT [ki j] {xi}r = {xi}rT [ki j] {xi}s .8.6.8 Subtracting Eq. 8.6.6 from Eq. 8.6.5 we get (r2 s2) {xi}rT [mi] {xi}s = 0 ............8.6.9 If r s, then it follows that {xi}rT [mi] {xi}s = 0 8.6.10 Since [mi] and [ki j] are symmetric matrices the following relations hold good. For one of the natural frequencies say = r, the above equation can be written as

And

{xi}rT [ki j] {xi}s = 0 ..8.6.11

Equations 8.6.10 and 8.6.11 define the orthogonal properties of the normal modes of vibration.For example, for a three degree-of-freedom system Eq. 8.6.10 can be written in expanded form as follows: {x1 x2 x3}r 0 0 m1 m2 0 0 0 m3 0 x1 x2 x3 s = 0 0 ..8.6.12 0

After performing the matrix multiplication the above equation reduces to (x1)rm1(x1)s + (x2)rm2(x2)s + (x3)rm3(x3)s = 0 8.6.13 Where (x1)r, (x2)r and (x3)r are the amplitudes of vibration of masses m1, m2, and m3 respectively when the system is vibrating with natural frequency r and (x1)s, (x2)s, and (x3)s are the amplitudes of masses m1, m2, and m3 respectively when the system is vibrating with the natural frequency s. When r = s, {xi}rT [mi] {xi}s = Mr .................................8.6.14 And {xi} r [ki j] {xi}s = Kr .8.6.15 Where Mr and Kr are referred to as generalized mass and generalized stiffness respectively.Mr and Kr are actually 1 x 1 matrices. 3.To determine the lowest natural frequency :To determine the lowest natural frequency, the governing equations for free vibrations has to be written in terms of flexibility influence coefficients as follows: x1 = a11F1 + a12F2 + .a1nFn x2 = a21F1 + a22F2 + .a2nFn ..8.6.16 xn = an1F1 + an2F2 + . annF For free vibrations, Fi = mi xi , i = 1 to n. Substituting this in Eq. 8.6.16 we have .. .. .. x1 = a11m1x1 a12m2x2 .a1nmn xn .. : .. .. .. .. .. x2 = a21m1x1 a22m2x2 .. a2nmnxn 8.6.17 xn = an1m1x1 an2m2 x2 ......... annmnxn Assuming harmonic oscillations i.e. xi = xi sint, Eqs.8.6.17 reduces to {xi} = 2 [aij] [mi] {xi} 8.6.18

Where

x1 x2 {xi} = xn : :

a11 a21 ; [ai j] = : an1 :

a12 ...a1n a22 ...a2n [mi] = : : an2.ann

m1 0...0 0 m2..0

0mn

Eq. 8.6.18 can be simplified as : {xi} = 2 [bi j]{xi} 8.6.19 Where [bi j] = [ai j] [mi] .8.6.20 Equation 8.6.19 is the starting point for the iteration process which is as follows. The iteration process is started by assuming a set of displacements for {xi} and substituting on the RHS of Eq. 8.6.19. After performing the multiplication, the RHS reduces to a column vector. This is then normalized and the procedure is repeated with the normalized column vector itself as the new estimate. The iteration process is continued till the first mode repeats itself. The iteration process described above converges to the lowest value of 2 so that the fundamental mode of vibration is obtained. For the next higher modes and the natural frequencies, the orthogonality principle is applied to obtain a matrix equation that does not contain the lower modes. Then the iterative process is repeated as before to get the other modes. 4. Calculation of Higher Modes :- Since the governing differential equations are linear, we can use the principle of superposition, which in this case can be stated as follows : If {xi}1, {xi}2 , .{xi}n are the amplitude vectors corresponding to the natural frequencies 1, 2, ..n then the linear combination of these vectors will also be a solution of the governing differential equations. That is {xi} = C1{xi}1 + C2 {xi}2 +.. + Cn {xi}n 8.6.21 If we want to obtain the second mode, then we have to eliminate the first normal mode by letting C1 = 0. This is done as follows : Pre-multiplying the above equation by {xi}1T[mi] we have {xi}1T[mi] {xi} = C1{xi}1T[mi]{xi}1 + C2 {xi}1T [mi] {xi}2 + .Cn{xi}1T [mi]{xi}n ..8.6.22 Introducing the orthogonality principle (Eq. 8.6.10) in Eq. 8.6.22 we get {xi}1T [mi] {xi} = C1 {xi}1T [mi] {xi}1 By letting C1 = 0 we have {xi}1T [mi] {xi} = {0} 8.6.23(a) The expanded form of the above equation for a three degree-of-freedom system will be as follows: m1 { x1 x2 x3 }1 0 0 m2 0 0 x1 x2 0 = 0 ..8.6.23(b)

0 Eq. 8.6.23(b) simplifies to

m3

x3

(x1)1m1(x1) + (x2)1m2(x2) + (x3)1m3(x3) = 0 ..8.6.23(c) Solving for (x1) from the above equation we get (x2)1 m2 (x1)1 m1 Also we can write and (x2) = (x2) (x3) = (x3) ........................8.6.24 Equations 8.6.24 can be written in matrix form as : {xi} = [si j] {xi} .8.6.25 (x2)1m2 0 Where {xi} = x1 x2 x3 [si j] = ---------(x1)1m1 0 0 1 0 (x3)1m3 ----------(x1)1m1 0 1 (x3)1 m3 (x1)1 m1 (x1) = ------------- (x2) -------------- (x3)

Since Eq.8.6.25 is the result of putting C1 = 0, the first mode of vibration is eliminated or swept out by the sweeping matrix [si j]. Therefore replacing {xi} on the right hand side of Eq.8.6.19 we get {xi} = 2 [bi j] [si j] {xi} ..8.6.26 The above equation is used for the iteration process to get the second lowest mode of vibration. For obtaining the third lowest mode the following equations, which will eliminate the first and second modes are used. (x1)1m1(x1) + (x2)1m2 (x2) + (x3)1m3(x3) = 0 8.6.27(a) (x1) 2m1(x1) + (x2) 2m2 (x2) + (x3) 2m3(x3) = 08.6.27(b) Eq.8.6.27(b) is obtained by introducing orthogonality relationship by pre-multiplying Eq.8.6.21 by {xi}2T [mi] and setting C2 = 0.The sweeping matrix [si j] is formed by using the Eqs. 8.6.27(a) and 8.6.27(b) along with the identity (x3) = (x3) ..8.6.27(c)

Equations 8.6.27 (a) to (c) can be rewritten as follows: (x1) = 0 [(x2)1m2 / (x1)1m1](x2) [(x3)1m3 / (x1)1m1] (x3) (x2) = [(x1)2m1/(x2)2m2](x1) [(x3)2m3 / (x2)2m2] (x3) and (x3) = (x3) .8.6.28

Equations 8.6.28 can be written in matrix form as: {xi} = [sij] {xi} ..8.6.29 Where [sij] is given by 0 [sij] = 0 [(x2)1m2 / (x1)1m1] [(x1)2m1/(x2)2m2] 0 [(x3)1m3 / (x1)1m1] 0 [(x3)2m3 / (x2)2m2] 1

Now {xi} is replaced by [sij]{xi} on the right hand side of Eq. 8.6.19 and The iteration process is repeated as done earlier to obtain the second lowest mode shape. 5. To Find the Highest Natural Frequency:.. [mj] {xi} + [kij] {xi} = {0} . 8.6.21 Pre-multiplying by [mi]1 we get .. [I] {xi} + [mi] [kij] {xi} = {0} .. Or Where [I] {xi} + [dij] {xi} = {0} 8.6.22 [dij] = [mi]1 [kij]

Assuming harmonic oscillations, i.e., {xi} = {xi} sin t, Eq. 8.6.22 reduces to 2 {xi} + [dij] {xi} = {0} Or {xi} = ( 1 / 2) [ d I j ] {xi} 8.6.23 x1 x2 : xn d21 : dn1 d11 d22 : dn2 d12 : dnn d2n : xn d1n x2 x1 The expanded form of the above equation would be

Using Eq. 8.6.24, the iteration process as described above is started and this converges to the lowest value of (1 / 2) so that the highest mode of vibration is obtained. For the next lower modes and the natural frequencies the orthogonality principle is applied to obtain a modified matrix equation that does not contain the higher modes. The process is repeated as before. The method is illustrated by the following examples. Illustrative Examples on Matrix Iteration Method

Example 8.6.1:- Find the fundamental frequency and the corresponding mode shape for the system shown in Fig. E8.6.1 by the method of matrix iteration. Also obtain the higher modes by applying the principle of orthogonality.

3k

3k

4m

2m

Fig. E8.6.1 : Schematic for example 8.6.1.

Solution to example 8.6.1 For finding the lowest natural frequency using matrix iteration method, the first step is to write the governing equations in terms of flexibility matrix [ai j]. For the given system we have (1/3k) [ai j] = (1/3k) (1/3k) (1/3k) (1/3k) (4/3k) (4/3k) (1/3k) (1/3k) (4/3k) (7/3k) (1/3k) (4/3k) (7/3k) 4 Or [bi j] = (m/3k) 4 4 2 8 8 1 4 7 (4/3k) 0 0 [mi j] = 4m 0 0 4m 0 2m 0 0 2m 0 0 m 0 0 m 0

[bi j] = [ai j] [mi] = (1/3k) (1/3k) (4/3k)

{xi} = 2 [bi j] {xi}. In expanded form this equation gives x1 x2 x3 = 2m / (3k) 4 4 4 2 8 8 1 4 7 x1 x2 x3 (1)

Eq.(1) is the starting point for the iteration process. Trial 1 :- Assume x1 = 1.0, x2 = 1.0 and x3 = 1.0. Substituting on the RHS of equation (1) and simplifying we get x1 x2 x3 = (2m / 3k) 16 7 = (72m / 3k) 9 2.29 2.71 1

Since the calculated amplitude vector is different from the assumed vector one more trial is required for which the assumed values will be the calculated values of the previous trial. Trial No. 2 :- Let x1 = 1.0 , x2 = 2.29, and x3 = 2.71. Substituting these values on the RHS of Eq. (1) and simplifying we have x1 x2 x3 11.87 = (2m / 3k) 33.11 41.29 = (11.87 2m / 3k) 1.0 2.79 3.48

The calculated values of the amplitude are different from the assumed values and hence one more trial is required. Trial No. 3:- Assume x1 = 1.0, x2 = 2.79, and X3 = 3.48. Substituting these values on the RHS of Eq.(1) and simplifying we get x1 x2 x3 = (13.06 2m / 3k) 1.00 3.08 3.88

Since the calculated values of the amplitude are still not matching with the assumed values one more trial is required. Trial No. 4:- Assume x1 = 1.0, x2 = 3.08, and x3 = 3.88. Following the same procedure we get x1 x2 = (14.04 2m / 3k) x3 3.15 4.00 1.00

The calculated values of the amplitudes agree with the assumed values within 2.5 % and the iteration is stopped. Therefore 14.04 2 m / 3k = 1.0 _____________ _____

Or

= [(3k) / (14.04m)] = 0.462 (k/m) = 1

Calculation of higher modes:- First step in finding the higher modes is to form the sweeping matrix using the principle of orthogonality between principal modes. Orthogonality principle for a three-degree-of-freedom system can be stated as (x1)1m1(x1) + (x2)1m2(x2) + (x3)1m3(x3) = 0 Where (x1)1, (x2)1 and (x3)1 are the amplitudes of vibration corresponding to the lowest natural frequency, 1, which have already been determined.Substituing these values and also the values for m1, m2, and m3 we have 4m(x1) + 3.15 x 2m (x2) + 4.0 x m (x3) = 0 Or And (x1) = 1.57 (x2) 1.0 (x3) ..(2) (x3) = (x3) (Identity) 0 Where [si j] = 0 0 x1 x2 = (2 m / 3k) x3 1.57 1.0 0 1.0 0 1.0 4 4 4 2 8 8 1 4 7 0 0 0 and {xi} = x1 x2 x3 1.57 1.0 0 1.0 0 1.0 x1 x2 x3 Also (x2) = (x2) (Identity)

Eqs.(2) can be written in matrix form as {xi} = [si j] {xi},

Substituting for {xi} on the RHS of Eq. (1) we have

The above equation simplifies to x1 x2 x3 = (2m / 3k) 0 0 0 4.28 1.72 1.72 3.0 0 3.0 x1 x2 x3 (3)

Eq.(3) is the starting point for iteration process. Trial 1:- Assume x1 = 1.0, x2 = 1.0, and x3 = 1.0. Substituting these values in RHS of Eq. (3) and simplifying we get x1 x2 x3 = (2m / 3k) 7.28 1.72 4.72 = (7.28 2m / 3k) 1.0 0.24 1.02

Since the calculated amplitudes are different from the assumed values one more trial is required. Trial 2:- Assume x1 = 1.0, x2 = 0.24, and x3 = 1.02. Substituting these values in RHS of Eq.(3) and simplifying we get

x1 x2 x3 = (2m / 3k)

4.087 0.413 0.85 = (4.0872 / 3k)

1.0 0.10 0.85

Once again the calculated values of the amplitudes do not agree with the assumed values and the iteration has to be continued further. Final Trial :-

L/2

2mg y22 y12

L/2

Fig. E8.5(b) : Deflection curve and B-M diagram when only load 2mg is acting at station2.

Y22 = mgL(L/2) 2/3(L/2) = mgL3/(12EI) a22 = Y22 /2mg Or a22 = L3 / (24 EI) y22 = (1/EI) (mgL x L/2 x (2/3)L/2 = 2mgL3 / (24EI) Therefore a22 = y22 / 2mg = L3 / (24 EI ) Also y12 = (1/EI) (mgL) x L/2 x {L/2 + (2/3)L/2} = (5/48) 2mgL3 / (EI) Therefore a12 = y12 / (2mg) = 5L3 / (48 EI) = a21 as shown earlier

Example 8.6:

Obtain the stiffness influence coefficients for the system given in example 8.5.

P2 y2
y1 = a11P1 + a12P2 and y2 = a21P1 + a22P2 Solving for P1 and P2 we have

P1 y1

P1 = (a22y1 a12y2) / (a11a22 a21a12) (1) And P2 = (a11y2 a21y1) /(a11a22 a12a21) .(2) When y1 = 1 and y2 = 0 then P1 = k11 and P2 = k21. a22 a21a12 a11a22 Or And k11 = 96EI/(7L3) a21 (a11a22 a21a12) Therefore k21 = 240 EI / (7L3) When y2 = 1 and y1 = 0 then P2 = k22. a11 [(a12)2 a11a22 ] 1 = --------------------------------------------1 [(a12)2 / a11 a22] Therefore k22 = ----------------------- = -----------------------5L3 / 48 EI [{(L3/3EI)(L3/24EI) {5L3/ 48EI}2] k21 = ----------------------- = ----------------------------L3 / (24 EI) [ {5L3/48EI}2 {(L3/3EI)(L3/24EI)}] Therefore k11 = ------------------------- = --------------------------

[(5L3/48EI)2 /(L3 /3EI) (L3 / 24EI)] = - (768 EI) /(7L3) Example 8.7 A string fixed at both ends carries three point masses m1, m2, and m3 equidistant from each otheras shown in Fig. E8.7. Determine (i) the flexibility influence coefficients and (ii) the stiffness influence coefficients using basic principles.

m1

m2

m3

Fig. E8.7:- Schematic for example 8.7

Solution to Example 8.7 (i) To find displacement coefficients Let m1 be displaced by a distance y11 by applying a force F1 at m1. Then the free-body diagram will be as shown in Fig. E8.7(a).

L y11 y21 T

y31

F1
Fig. E8.7 : Free-body diagram when F1 acts at m1

Force balance in vertical direction at m1 gives F1 = T sin + T sin And in horizontal direction we have T cos = T cos . For small oscillations we can assume sin = tan, cos =1, sin = tan and cos = 1. Therefore F1 = T(y11 / L) + T (y11 / 3L) =(4/3)Ty11 / L . Or a11 = y11 / F1 = (3/4)(L/T). By law of similar triangles, a21 =(2/3) a11= (1/2)(L/T) By Maxwell theorem, a12 = a21 ; a13 = a31 When a force F2 is applied at station 2, the displacements y12, y22, and y32 will be as shown in Fig. E8.7(b).

L y12

L y32

y22

F2
Fig.E8.7(b): Free-body diagram when F2 acts at station2.

Force balance at station 2 in vertical direction gives F2 = T sin + T sin = 2T sin = 2T tan = 2T (y22 / 2L) = T y22 / L. Therefore a22 = y22 / F2 = L / T. By law of similar triangles, a12 = a32 = a22 = L / (2T). Because of the symmetry of the problem a33 = a11= (L/T).

(ii) To find the stiffness influence coefficients :- Let a displacement y1 be effected at station 1, holding the remaining stations at their respective equilibrium positions. Then the free-body diagram for the system will be as shown in Fig. E8.7(c).

T y1 T

Fig. E8.7(c): Free-body diagram when a displacement y1is effected at station1.

Total restoring force at 1 in vertical direction due to unit displacement at 1 is given by F11 = - 2T sin = - 2T tan = - 2T(y1/ L) Therefore - k11 = F11 / y1 = - 2T / L, or k11 = 2T / L. By symmetry k33 = k11 = 2T / L. Restoring force at 2 is given by F21 = T sin = T tan = T(y1 / L) Therefore - k21 = F21 / y2 = T / L or k21 = - T / L = k12 Restoring force at 3 = F31 = 0. Therefore k31 = 0 = k13. Let a displacement y2 affected at station 2 holding the stations 1 and 3 at their respective equilibrium position. Then the free-body diagram will be as shown in Fig. E8.7(d).

L T

L y2 T

Fig. E8.7(d): Free-body diagram when a displacement y2 is effected at 2 holding stations 1 and 3 in their equilibrium position.

Total restraining force at 2 = F22 = 2T sin = 2T tan = 2T(y2 / L) Therefore Or Similarly Therefore Or - k22 = F22 / y2 = 2T / L k22 = - 2T / L F32 = T sin = T tan = T y2 / L -k32 = F32 / y2 = T / L k32 = - T / L = k23.

8.5 Numerical Methods for M-D-F systems

For Determining Natural Frequencies and the corresponding mode shapes 8.5.1. Introduction: - The exact solution of the determinants of higher order becomes more and more difficult with increasing number of degrees of freedom. It is more convenient to use numerical methods to find the natural frequencies of an M-D-F system especially when the number of degrees of freedom exceeds three. A number of numerical methods are available, each method having its own merit. Some of the methods which will be discussed are :

1.Rayleighs Method 2.Stodolas Method 3.Dunkerlys Method 4.Matrix Iteration Method 5.Holzers Method 6.Rayleigh-Ritz Method 8.5.2. Rayleighs Method Introduction :- This method was developed by Rayleigh and is very handy for finding the first natural frequency (fundamental frequency) of a M-D-F system. Though this is a numerical method, it does not require any iteration process, because , the first trial itself gives values which are very close to the fundamental frequency. The method is based on equating the maximum kinetic energy of the system to the maximum potential energy. Procedure:- (i) Assume a deflection curve of the system that is consistent with the boundary conditions. (the static deflection curve itself can be assumed) (ii) Find the maximum kinetic energy and the maximum potential energy for the assumed deflection curve (iii) Equate the two to get the natural frequency

Frequency equation for Rayleighs Method:-Consider a beam having concentrated loads W1,W2,.. ..Wn acting at different locations as shown in Fig.8.8. W1 W2 W3 Wn done by Let the corresponding displacements under each load be y1, y2, y3, yn. The total potential energy of the system = Sum of the work all the loads acting on the beam. That is U = ()Wiyi , i = 1,2,3, .n ..8.8(a) The total kinetic energy of the system is given by

T = (1/2)(Wi / g)i2, i = 1,2,3,n 8.8(b) Assume harmonic oscillations; i.e. yi = Yi sin nt. Substituting this in Eqs.8.8(a) and 8.8(b) we have U = (1/2)WiYi sin nt , i = 1 to n Therefore and Or Umax = (1/2) WiYi , i = 1 to n8.9(a) T = (1/2)(Wi / g) 2 Yi 2 cos2 nt, i = 1 to n Tmax = (1/2)gn2 WiYi 2 , i = 1 to n .8.9(b) g WiYi n2 = ------------------- .8.10 WiYi2 Illustrative Examples on Rayleighs Method Example 8.8 :- To find the fundamental frequency of the system shown in Fig. E 8.8. m1 = 250 kg m2 = 150 kg

Equating Eqs.8.9(a) and 8.9(b) and solving for n2 , we get

1.5 m

5.0 m

1.5 m

Fig. E8.8: Schematic for example 8.8

Solution to Example 8.8 The static deflections Y1 and Y2 are calculated as follows: Y1 = Y11 + Y12 ; Where Y11 = Deflection at 1 due to load at 1 and Y12 = Deflection at 1 due to load at 2 Similarly Y2 = Y21 + Y22 ; Where Y21 = Deflection at 2 due to load at 1 and Y22 = deflection at 2 due to load at 2 To find Y11 and Y21:- The loading arrangement to find Y11 and Y21 will be as shown in Fig. E8.8(a)

W1 y11

Fig. E8.8(a): Deflection of the beam due to load W1at station 1.

When a concentrated load W acts on the beam as shown below, the deflection at any location x from one end of the beam is given by

a x

yx =(Wbx)(L2 x2 b2) / (6EIL) ; (0 x a) ..8.11 Therefore Y11 =( W1ba)(L2 a2 b2) / (6EIL) 250 x 9.81 x 6.5 x 1.5 Y11 = ----------------------------- [ 82 1.52 6.52] 6EI x 8 = 9714 / (EI) 250 x 9.81 x 6.5 x 1.5 Similarly, Y21 = ------------------------------- [82 1.52 1.52] 6EI x 8 = 6840 / (EI) Similarly when W2 acts at station 2, the deflections at stations 1 and 2 are calculated as Y12 = 4104 / (EI), and Y22 = 5823 / (EI). Therefore Y1 = Y11 + Y12 = (9714 + 4104) / (EI) =13818 / (EI) And Y2 = Y21 + Y22 = (6840 + 5828) / (EI) = 12669 / (EI) g [ W1Y1 + W2Y2] n2 = ---------------------------[W1Y12 + W2Y22] 9.81 x [250 x13818 + 150 x 12669] = ------------------------------------------------ (EI) [250 x 138182 + 150 x 126692] ____

Or n = 0.085 EI Examples on Rayleighs method Example 8.9: To find the fundamental frequency for the lateral vibrations of the cantilever beam shown in Fig. E8.9.

75 kg 1m W2 1m

50

W1

Y2

Fig. E8.9 : Schematic for example 8.9.

Fig. E8.9(a): Deflection curve when both the loads are acting on the beam. Y1= Y11 + Y12 ; Y2 = Y21 + Y22 To find Y11 and Y21 :- The deflection curve for the beam and the bending moment diagram when W1 acts at 1 is shown below.

L/2

L/2 Y21

W1 Y11

W1L/2 W1L
From moment-area method we have Y11 = [1/(EI)]Moment of the area of B-M diagram about station1 = [1/(EI)] (1/2)(W1L)L (2/3)L = (W1L3) / (3EI) = (50 x 9.81 x 23) / (3EI) = 1308 / EI Similarly, Y21 = [1/(EI)] [( )(W1L x L/2) x L/4 + ( (W1L/2)(L/2)(2/3)(L/2)] = (5/48)(W1L3/EI) = (5/48) (50 x 9.81 x 23 / EI) = 409 / (EI) To find Y12 and Y22 :- Let the load W2 act at station 2. Then the deflection curve and the corresponding B-M diagram will be as shown below Y22 = (1/EI) (W2L/2)(L/2)(2/3)(L/2) = W2L3/(12 EI) = 75x9.81 x 23 /(12EI) =245/EI Y12 = (1/EI)1/2 (W2L/2)(L/2)[(2/3)L/2+ L/2] =5W2L3/(48 EI) = 5 x75 x 9.81 x 23 / (48 EI) = 613 / (EI) Y1 = Y11 + Y12 = (1308 + 613) /(EI) = 1921 / (EI) Y2 = Y21 + Y22 = (409 + 245) / (EI) = 685 / (EI) g [W1Y1 + W2Y2] 9.81 x [50 x 1921 + 75 x 685] / (EI)

n2 = ------------------------ = -------------------------------------------------[W1Y12 + W2Y22] Or n = 0.0811 (EI) 8.5.3. STODOLAMETHOD Introduction:- This method is an iterative method and used for finding the fundamental (lowest) natural frequency of un-damped free vibrations of M-D-F systems Procedure:- (i) Assume a reasonable deflection curve of the system. The static deflection curve itself can be assumed as in the case of Rayleighs method. (ii) Using the above deflection curve, the inertia loading of the system is determined. This loading will be in terms of n2, where n is the fundamental natural frequency of the system. (iii) Considering the system is loaded with the inertia loads, the new deflection curve is determined. This also will be in terms of n2. If the assumed deflection curve of (i) above is similar to the calculated deflection curve of (iii), then the assumed shape of the deflection curve is correct and (iii) gives the value of n2. If the deflection curve of (i) and (iii) are not similar, then the calculated deflection curve of (iii) is used as the assumed deflection curve for the next iteration and the procedure is repeated till the assumed deflection curve and the calculated deflection curve are similar. It can be shown that whatever deflection curve was assumed initially, we finally end up with the deflection curve corresponding to the fundamental mode. Example 8.10 :- To determine the lowest natural frequency for the lateral vibrations of the beam shown in Fig. E8.10. [50 x 19212 + 75 x 6852] / (EI)2

250 kg 1.5 m 5.0 m

150 kg 1.5 m

m1g = 250 x 9.81 N Y11 Y21

Fig. E8.10: Schematic for example 8.10.

Fig. E8.10(a): Deflection curve when only m1g is acting on the beam. a11 = Y11 / m1g = 3.96 / (EI) ; a21 = Y21 / m1g = 2.79 / (EI) Similarly when m2g alone acts at location 2 we have a22 = Y22 / m2g = 0.188 / (EI) ; a12 = a21 by Maxwells theorem. Trial 1 :- Assume Y1 = 1.0 and Y2 = 1.0 Inertia force at location 1 = F1 = m12Y1 = 250 2. Similarly F2 = 150 2. Therefore Y1 = a11F1 + a12 F2 Or Y1 = [3.96 x 250 + 2.79 x 150 ] 2 / (EI) = 1408.5 2 / (EI) = 725.7 2 / (EI) Therefore Y1 : Y2 = 1 : 0.515. This is different from the assumed deflection. Hence one more trial is required. Trial 2 :- Assume Y1= 1.0 and Y2 = 0.515. Then F1 = 2502 and F2 = 150 x 0.515 x 2 = 77.252 Therefore Y1 =[3.96 x 250 + 2.79 x 77.25] 2 / (EI) = 1205.5 2 / (EI). Similarly Y2 = [2.79 x 250 + 0.188 x 77.25] 2 / (EI) = 712 2/ (EI) Therefore Y1: Y2 = 1 : 0.590. Trail 3 :- Assume Y1 = 1.0 and Y2 = 0.590. Then the calculations as shown in trial 2 will give Y1 = 1.0 and Y2 = 0.577. Trial 4 :- Assume Y1 = 1.0 and Y2 = 0.577. Then Y1 = 1231.5 2/ (EI) and Y2 = 713.8 2 / (EI). Y1 : Y2 = 1.0 : 0.580 which is same as the assumed deflection within the acceptable accuracy. Hence iteration may be stopped. Therefore 1231.52 / (EI) = 1.0 or = 0.028 (EI). Examples on Stodolas Method Example 8.11:- Determine the fundamental frequency for the system shown in Fig. E8.11 using Stodolas method. Similarly Y2 = a21F1 + a22F2 = [2.79 x 250 + 0.188 x 150] 2 / (EI)

3k 4m

k 2m

k m

Fig. E8.11: Schematic for example 8.11.

Solution : The displacement coefficients for the given system are determined as : a11 = 1/ 3k ; a2 = a31= a12= a13= 1/3k ; a22 = a32 = a23= 4/3k a33 = 7/ 3k . Trial 1:- Assume x1 = x2 = x3 = 1.0. Then F1 = 4m2 , F2 = 2m2 and F3 = m2. X1= a11F1 + a12F2 + a13F3 = 4m2 /(3k) + 2m2/(3k) + m2 / (3k) = 7m2 / (3k) X2 = a21F1 + a22F2 + a23F3 = 4m2 /(3k) + 8m2/ (3k) + 4m2/(3k) = 16m2/(3k), and X3 = a31F1 + a32F2 + a33F3 = [4/3 + 8/3 + 7/3] m2/ k = 19m2/(3k) Therefore X1 : X2 : X3 =7/3 : 16/3 : 19/3 = 1 : 2.3 : 2.7, which is not the same as the assumed deflection. Hence one more trial is required. Trial 2 :- Assume X1 = 1.0, X2 = 2.3 and X3 = 2.7. Following the procedure as shown in trial 1 we get X1 : X2 : X3 = 1 : 2.94 : 3.66 which is not the same as assumed profile. Hence the iteration has to be continued. Final trail (Trial No. 4):- Assume X1 = 1, X2 = 3.11, and X3 = 3.93 Then X1 = 14.15m2/(3k), X2 = 44.6 m2/(3k); X3 =56.39m2/(3k) Therefore X1 : X2 : X3 = 14.15 : 44.6 : 56.39 = 1 : 3.15 : 3.93 which is very close to the assumed deflections. Hence 14.15 m2 / (3k) = 1.0 or = [3k/ (14.15m)] 8.5.4. Dunkerleys Method Introduction :- In beam vibrations the natural frequencies of the second and higher modes are often considerably greater than that of the fundamental frequency. This fact will enable us to approximate the fundamental frequency with acceptable accuracy. DunkerlysEquation:- In order to illustrate the Dunkerlys method, let us consider the free vibrations of a three degree-of-freedom system. The governing equations in terms of flexibility influence coefficients can be written as x1 = a11F1 + a12F2 + a13F3 x2 = a21F1 + a22F2 + a23F3 . 8.12 x3 = a31F1 + a32F2 + a33F3 For free vibrations the forces F1, F2 and F3 can be replaced with the .. .. .. inertia forces m1x1, - m2x2 and m3x3.. If the system is vibrating = 0.46(k/m)

.. harmonically with frequency , then mixi= mi2xi. Therefore equations 8.11 can be written as follows: x1 = a11(m12x1) + a12 (m22x2) + a13(m32x3) x2 = a21(m12x1) + a22(m22x2) + a23(m32x3) .8.12 x3 = a31(m12x1) + a32(m22x2) + a33(m32x3) Equations 8.12 can be written in matrix form as follows: x1 x2 x3 a11m1 a21m1 a31m1 a12m2 a22m2 a32m2 a13m3 a23m3 a33m3 x1 x2 x3 .8.13

Dividing by 2, the above set of equations may be rearranged as follows: (a11m1 1/2)x1 + (a12m2)x2 + (a13m3)x3 = 0 (a21m1)x1 + (a22m2 1/2)x2 + (a23m3)x3 = 0 8.14 (a31m1)x1 + (a32m2)x2 + (a33m3 1/2)x3 = 0 Equations 8.12 are satisfied if the determinant of these equations vanishes: (a11 1/2) (a21m1) (a31m1) (a12m2) (a22 1/2) (a32m2) (a13m3) (a23m3) (a33 1/2)

Expanding the determinant we have the following frequency equation. (1/ 2)3 [a11m1 + a22m2 + a33m3] (1/2)2 [a12m2a21m1 + .](1/2) [ ] = 0 .8.14 We know from a theorem in algebra which states that if the coefficient of the highest term of the nth-degree equation is reduced to unity, the coefficient of the second highest term will be equal to the sum of the roots of the equation. If the roots of Eq. 8.14 are 1/1, 1/2, and 1/3, the above equation can be factored into the following form: (1/2 1/12) (1/2 1/22) (1/2 1/32) = 0 Or (1/2)3 [ 1/12 + 1/22 + 1/32] (1/2)2 [...](1/2) [] = 0.8.15 Comparison of equations 8.14 and 8.15 indicates that 1/12 + 1/22 + 1/32 = a11m1 + a22m2 + a33m3 = m1/k1 + m2 /k2 + m3 / k3 = 1/112 + 1/222 + 1/332 ..8.16 Where the terms 11, 22, and 33 are the natural frequencies of the system, with each mass acting separately in the absence of other masses.

Since 2 and 3 are natural frequencies corresponding to the higher modes and are larger than the fundamental frequency Eq. 8.16 can be approximated as 1 12 1 112 1 1 222 332 ----- ------- + -------- + ---------- ...........8.17 Eq.8.17 is called as the Dunkerlys equation and has many useful applications as illustrated in the following examples. Examples Example 8.12:- Determine the fundamental frequency of a uniformly loaded cantilever beam with a concentrated mass M at the end equal to the mass of the uniform beam Solution:-

L M M
Let 11 be the natural frequency of the uniformly loaded beam by itself and 22 be the natural frequency of the same beam when a mass M is acting at the end of the beam, neglecting the weight of the beam. Example 8.12 For a uniformly distributed load of a cantilever beam we have 112 = 3.515 2 [(EI) / (ML3)] For the concentrated mass at the end of the mass less cantilever we have 222 = 3.00 [(EI) / (ML3)] From Dunkerlys equation we have 1/12 = 1/112 + 1/222 112222 Or (112 + 222) Example 8.13 The natural frequency of a given airplane wing In torsion is 1600 cpm. What will be the new natural frequency if a 500-kg bomb is hung at a position one-sixth of the semi span from the centre line of the airplane such that its moment of inertia about the torsional axis is 1800 N cm s2 ? The torsional stiffness of the wing at this point is 60 x 10 6 N cm / rad. 3.515 2 x 3.0 (EI) 12 = ----------------- = --------------------------- = 2.41[(EI) / (ML3)] (3.515 2 + 3.0 ) (ML3)

Solution: Frequency of the bomb attached to the weightless wing is (60 x 106) f22 = (1 / 2) (kt / J) = (1/2)--------------------- (1800) Or f22 = 29.1 c.p.s. = 1745 c.p.m. 1 1 1600 2 Or f1 = 1180 c.p.m. 1745 2 The new natural frequency with the bomb will be 1 / f12 = 1 / f112 + 1 / f222 = ------------ + -------------

Example 8.13:- The fundamental frequency of a uniform beam of mass M, simply supported is equal to 2 (EI / ML3). If a lumped mass m0 is attached to the beam at x = L/ 3, determine the new fundamental frequency.

Solution:-

m0 x L
1 / 12 = 1 / 112 + 1 / 222. The above equation can be written as follows: 1 / 12 = 1 / 112 + a22 m2 ...............................(1) Where m2 is the mass of the concentrated weight or exciter and a22 is the influence coefficient of the structure at the point of attachment of the exciter. Multiplying Eq. (1) through by 12 and rearranging we can write 1 (1 / 11)2 = ----------------------- ..(2) [ 1 + a22m2112] a22 is the influence coefficient at x = L / 3 due to a unit load applied at the same point and from the knowledge of strength of materials a22 = 8L3 / (6 x 81 EI)

By Dunkerlys equation we have

7.Vibrations of Continuous Systems

7.1. Introduction:- If in a mechanical system the inertial elements and the elastic forces are located at discrete points in the system, then such systems are referred to as discrete systems or lumped mass systems and they are further classified as single degree and multi degreeof- freedom systems. In these systems a finite number of independent coordinates are required to completely describe the vibratory characteristics of such systems. The number of natural frequencies for such systems will be equal to the number of degrees of freedom for the system. But there are many mechanical systems where in it is not possible to assume that the inertial elements and the elastic forces are concentrated at discrete points within the system but they are distributed throughout the system. Cables, rods, beams, plates etc. are some of the examples and such systems are called continuous systems. Continuous systems consist of an infinitely large number of particles and therefore require an infinitely large number of coordinates to study the vibratory characteristics of the system. The system will therefore have a infinite number of natural frequencies and normal modes of vibrations. In general, vibrations of continuous systems are governed by partial differential equations and while analyzing these systems all materials are assumed to be homogeneous and isotropic and obey Hookes law.

7.2. Longitudinal Vibrations of Bars

7.2.1. Governing Equation :- Consider a bar which is vibrating in the longitudinal direction as shown in Fig. 7.1. Let the displacement at any section which is at a distance x from one end of the rod at any time t be represented by u [u = u(x,t)], be the mass density and

dx
Position of the rod at time t

u+du

du = dx + (u / x) dx

Fig.7.1: Longitudinal Vibrations of a bar

Position of the rod at time at time t + dt

A be the area of cross section of the bar.

u(x,t) A dx
Fig. 7.2 : Free body diagram for an elemental length dx of the bar

A + [(A) / x] dx

Applying Newtons second law for elemental length dx of the bar we have Adx (2u / t2) = A + [(A) / x]dx A Since A is constant and assuming that the material of the bar obeys Hookes law ( = E , E is the modulus of elasticity and is the longitudinal strain), the above equation can be simplified as : ( 2u / t 2) = E ( /x) ..7.2.1 [dx + (u / x) dx] dx But = ------------------------------- = u / x dx Substituting this in Eq. 7.1 we get 2u / t2 = c2 2u /x2 .7.2.2 Where c= (E / ). 7.2.2. General Solution for Eq.7.2.2 :- Equation 7.2.2 is a linear, homogeneous, second-order, partial differential equation whose solution can be found by the method of separation of variables, where the solution is assumed to be a product of two functions, one purely a function of one independent variable x and the other purely a function of other independent variable t : that is u(x, t) = X(x) T(t) ----------------------7.2.3. Substituting this solution in Eq. 7.2.2 we get X (d2T / dt2) = c2 T (d2X / dx2) Dividing throughout by XT, we get (1 / T) (d2T / dt2) = (c2/ X)(d2X / dx2) .7.2.4. In Eq. 7.2.4, LHS is a function of t only and RHS is a function of x only. They can be equal only if they are equal to constant, say 2 , where 2 is a positive real constant ( Later on it will be shown that is a natural frequency of vibrations) . Now we will have two second order ordinary differential equations given by (1 / T ) (d2T / dt2) = 2 .7.2.5(a)

and Or and

( c2/ X ) (d2X / dx2) = 2 ..7.2.5(b) (d2T / dt2) + 2T = 0 7.2.6(a) (d2X / dx2) + (2 / c2)X = 0 ..7.2.6(b)

Eqs. 7.2.6(a) and 7.2.6(b) are linear homogeneous second order ordinary differential equations whose solutions are given by T(t) = A cos t + B sin t 7.2.7(a) and X(x) = C cos [(/c)x] + D sin [(/c)x] ..7.2.7(b) Substituting these expressions for T(t) and X(x) in Eq. 7.2.3 we get the general solution as follows: u(x,t) = (A cos t + B sin t) [ C cos{(/c)x} + D sin {(/c)x} ] 7.2.8 In the above solution is the natural frequency. Since for a continuous system there are infinite number of natural frequencies, the general solution can be written as u (x,t) = [An cos nt + Bn sin nt ] [ Cn cos{(n / c)x} + Dn sin {(n/c)x}] n = 1,2, ..7.2.9 An, Bn, Cn,and Dn are arbitrary constants which can be determined by the initial and boundary conditions of the problem and n the natural frequencies of the system. 7.2.3. Illustrative examples: 1.Determine the natural frequencies and the mode shapes of longitudinal vibrations of a bar with both ends free with zero initial displacement. Solution:- The boundary and initial conditions for the given problem are as follows. (i) At x = 0, u / x = 0 (free end and hence strain is zero) (ii) At x = L, u / x = 0 (free end) (iii) At t = 0, u = 0. From Eq. 7.9 we have u /x = (n / c) [An cos nt + Bn sin nt] [ Cnsin (nx / c) + Dn cos (nx / c)] (1) Condition (i) in Eq. (1) gives 0 = (n/c) [ An cos nt + Bn sin nt ] [ 0 + Dn] The above equation has to be satisfied for all values of t. Therefore, it follows that Dn = 0. Similarly condition (ii) in Eq. (1) gives 0 = (n/c) [ An cos nt + Bn sin nt ] [ Cn sin (nL /c)] For non-trivial solution Cn cannot be zero. Hence it follows that sin (nL / c) = 0(2)

Or

(nL / c) = n, n = 1, 2, 3, ..to n L _____

The natural frequencies are given by n = (n / L)c = --------- (E / ) .(3) Substituting Dn = 0 in the general solution (eq. 7.9) we have u(x,t) = ( En cos nt + Fn sin nt ) cos (nx /c) .(4) Where n is given by Eq. (3), En = Cn An and Fn = Cn Bn Condition (iii) in Eq. (4) gives : 0 = cos (nx / c) [ En + 0 ]. This equation has to be satisfied for all x. Therefore it follows that En = 0. Hence the final expression for u(x,t) is given by u(x,t) = Fn sin nt cos (nx / c). The constants Fn can be determined if we know one more initial condition. Example 7.2:- Derive an expression for the free longitudinal vibrations of a uniform bar of length L, one end of which is fixed and the other end is free.

L
Solution : The boundary conditions for the given problem are : (i) (ii) At x = 0, u = 0 (fixed end) At x = L, u / x = 0 (free end)

The general solution for longitudinal vibrations of a bar is given by u(x,t) = [ An cos nt + Bn sin nt ] [ Cn cos(nx/c) + Dn sin (nx/c)] ..(1) Condition (i) in Eq. (1) gives 0 = [ An cos nt + Bn sin nt ] [ Cn + 0 ] The above equation should be valid for all values of t. Therefore, Cn = 0. From Eq. (1) we have u / x = [ An cos nt + Bn sin nt ] Dn cos (nx/c)] (n/c)..(2) As Dn cannot be zero for non-trivial solution, Condition (ii) in Eq. (2)

gives cos (nL / c) = 0 .(3) Or Or nL / c = (n / 2 ), n = 1, 3, 5, ..to n = (nc / 2L) = (n/2L) (E / ) (4)

Therefore the displacement u(x,t) is given by u(x,t) = [ En cos nt + Fn sin nt ] sin (nx / c) (5) The constants En ( En = An Dn ) and Fn ( Fn = Bn Dn) can be determined using the initial conditions of the problem. Example 7.3:- A uniform bar of length L is fixed at one end and Connected at the other end by a spring as shown in Fig. E 7.3. Derive the frequency equation for the bar.

k L
Fig. E 7.2 : Schematic for example 7.3.

Solution:- For the given problem the boundary conditions are: (i) (ii) At x = 0, u(0,t) = 0 (free end) ; At x = L, k (u)x = L + A ()x = L = 0 i.e., k (u)x = L + A E (u / x )x = L = 0

For longitudinal vibrations of a bar the displacement u(x,t) is given by u(x,t) = [ An cos nt + Bn sin nt ] [ Cn cos(nx/c) + Dn sin (nx/c)]...(1) Condition (i) in Eq. (1) gives 0 = [ An cos nt + Bn sin nt ] Cn. The above equation has to be valid for all values of t. Therefore it follows that Cn = 0. Hence the solution now reduces to u(x,t) = [ En cos nt + Fn sin nt ] sin (nx/c) (2) Where En and Fn are constants which can be evaluated using the initial conditions. To find the natural frequencies n, boundary condition (ii) is used. From Eq. (2) (u)x = L = [ En cos nt + Fn sin nt ] sin (nL/c) And (u / x)x = L = (n / c)[ En cos nt + Fn sin nt ] cos (nL/c)

Therefore condition (ii) gives k { [ En cos nt + Fn sin nt ] sin (nL/c)} + A E { (n / c)[ En cos nt + Fn sin nt ] cos (nL/c)} =0 Or { k sin(nL / c) + AE (n/c) cos (nL/c)} (En cos nt + Fn sin nt) = 0 for all values of t. Therefore k sin(nL / c) + AE (n / c)cos (nL / c) = 0 Or tan (nL / c) = (A E n) / (kc) .(3)

Eq. (3) is the required frequency equation. Example 7.4. A bar of length L is fixed at one end and has a concentrated mass m as shown in Fig. E 7.4. Derive the frequency equation.

m L

Fig. E 7.4 The general solution for longitudinal vibrations of a bar is given by u(x,t) = [ An cos nt + Bn sin nt ] [ Cn cos(nx/c) + Dn sin (nx/c)] ..(1) The boundary conditions for the given problem are: (i) At x = 0, u(x,t) = 0 (fixed end) (ii) At x = L, m (2u / t2)x = L = AE (u / x)x = L 0 = [ An cos nt + Bn sin nt ] [ Cn + 0] The above equation is to be satisfied for all values of t. Therefore Cn = 0 and u(x,t) = [ En cos nt + Fn sin nt ] sin (nx/c) (2) Therefore AE (u / x)x = L = AE (n/c)[ En cos nt + Fn sin nt ] cos (nL/c)

Also m (2u / t2)x = L = mn2 sin (nL/c) [ En cos nt + Fn sin nt ] Therefore condition (ii) gives (A E n/c) cos (nL /c) = m n2 sin (nL /c) Or tan (nL /c) = [ (AE) / (mnc)] (3)

This is the frequency equation which can be solved to get the natural frequencies of the given system. Example on Forced Vibrations: Example 7.5 :- Determine the longitudinal forced vibration of a uniform bar of Length L subjected to a sinusoidal force F0 sin t at the free end as shown in Fig. E 7.5.

F0 sin t L
Fig. E 7.1 : Schematic for example 7.1 Solution to example 7.5 The equation of motion for longitudinal vibration of uniform bars is given by ( 2u / t2 ) = c2 ( 2u / x2)..(1) For steady state vibration, let u(x,t) = X(x) sin t(2) Substituting this solution in Eq.(1) we get 2 X(x) = c2 (d2X / dx2) Or d2X / dx2 + (2 / c2) X = 0 (3)

Eq.(3) is a linear, homogeneous, second order, ordinary differential Equation whose solution is given by X(x) = A1 cos (x / c) + A2 sin (x / c) And hence u(x,t) = [A1 cos (x / c) + A2 sin (x / c)] sin t ..(4) The boundary conditions for the problems are: (i) At x = 0, u = 0 ; (ii) at x = L, AE (u / x)x = L = F0 sin t Condition (i) in Eq. (4) gives 0 = [ A1 + 0] sin t , for all values of t Therefore A1 = 0. Now AE (u / x)x = L = A2AE(/c) cos (L/c) sin t Hence condition (ii) gives, A2 AE (/c) cos (L/c) = F0 F0 c Or A2 = -----------------------{ AE cos (L/c)} 7.3. Vibrations of strings 7.3.1. Governing Equation :- A flexible string of mass per unit length is stretched under tension T. Assuming that the lateral deflection y of the string to be small, the change in tension T is negligible and hence neglected.

y(x,t)

A free-body diagram of an elementary length is shown in Fig. 7.3

dx x T y(x,t)

Fig. 7.3 : String element in lateral vibration. Applying Newtons second law for the string element we have dx (2y / t2) = T sin { + ( /x) dx} sin For small oscillations y(x,t) is small and hence sin = . Therefore the above equation reduces to (2y / t2) = T ( / x) But = y / x. Therefore (2y / t2) = T (2y / x2) Or 2y / t2 = c2 (2y / x2) 7.3.1 Eq. 7.3.1 is a linear partial homogeneous differential equation whose solution can be obtained by the method of separation of variables. Let y(x,t) = X(x) T(t).7.3.2 Substituting this in Eq. 7.3.1 we get X(x) (d2T / dt2) = c2 T(t) (d2X / dx2) Or (1 / T) (d2T / dt2) = (c2 / X ) (d2X / dx2) LHS of the above equation is a function of t only and RHS is a function of x only. They can be equal provided they are equal to a constant. Therefore we have (1 / T) (d2T / dt2) = (c2 / X ) (d2X / dx2) = 2 Where 2 is a positive real constant. Therefore we get two ordinary differential equations, namely, (1 / T ) (d2T / dt2) = 2 , and (c2 / X ) (d2X / dx2) = 2 Or (d2T / dt2) + 2T = 0 7.3.3.(a) and (d2X / dx2) + (2/c2) X = 0 .7.3.3.(b)

The solutions to Eqs. 7.3.3.(a) and 7.3.3.(b) are given by T(t) = A1 cos t + A2 sin t ..7.3.4.(a) And X(x) = B1 cos (x / c) + B2 sin (x / c) ..7.3.4.(b) Substituting these solutions in Eq. 7.3.2 we get y(x,t) = [A1 cos t + A2 sin t ] [B1 cos (x / c) + B2 sin (x / c)] 7.3.5. Equation 7.3.5 is the general solution for the lateral vibrations of strings and the constants A1, A2, B1, and B2 can be determined for the given initial and boundary conditions. This is illustrated in the few examples below.

8.7.HOLZERS METHOD
8.7.1 Introduction:- When only one coordinate is associated with each lumped mass of the multi-degree-of-freedom system, we have a Holzer-type problem which can be solved by proceeding numerically from one end of the system to the other. Both the linear spring-mass and the torsional lumped mass system can be solved by this method.The method is a trial and error method which can be represented in a tabular form as illustrated in the examples to follow.

8.7.2. Governing Equations :

(i) Equations for a Free-Free system (Systems with both ends free) The governing equations are derived by considering a four-degree-of-freedom system as shown in Fig. 8.7.1.

Fig. 8.7.1: Four Rotor Torsional System

The differential equations of motion for the four rotors are: .. J11 = kt1 (1 2) .. J22 = kt1(1 2) kt2 (2 3) .. .8.7.1 J33 = kt2 (2 3) kt3 (3 4) .. J44 = kt3 (3 4) Assuming 1 = 1 sin nt, 2 = 2 sin nt, 3 = 3 sin nt, and 4 = 4 sin nt, the above equations reduce to

J1n21 = kt1 (1 2) J2n22 = kt1(1 2) kt2(2 3) 8.7.2 J3n23 = kt2(2 3) kt3(3 4) J4n24 = kt3(3 4) Adding all the above equations we get Jin2i = 0, i = 1 to 4 .8.7.3. Therefore, for a free-free system, n is found out by trial and error such that Eq. 8.7.3 is satisfied. From Eqs. 8.7.2 We have 2 = 1 J1n21/ kt1 3 = 2 (J1n21 + J2n22) / kt2 and 4 = 3 (J1n21 + J2n22 + J3n23) / kt3 i-1 Thus in general, i = i 1 (Jkn2k) / kt i 1 ..8.7.4 k =1 The method consists in assuming n and displacement of one of the rotors, say 1. Then, Eq.8.7.4 is used to find the displacement of the other rotors and hence the sum of the inertia forces.The condition to be satisfied is Jn2 = 0. A graph of Jn2 vs n is drawn. The frequency n which gives Jn2 = 0 is the natural frequency. (ii) Equations for a Fixed-Free System: - If the system is fixed at any point, then the displacement at that point should be zero. Starting from the free end the displacement at the fixed end is calculated assuming n. A graph of displacement at the fixed end vs n is drawn. The frequency at which the displacement of the fixed end is zero is the natural frequency. (iii) Fixed-Fixed System: - If both ends of the system are fixed, then the displacement at both the ends must be zero. Consider a fixed fixed system as shown in Fig. 8.7.2.

Then the equations of motion for the three rotors can be written as .. J11 = kt11 kt2 (1 2) 8.7.5(a) .. J22 = kt2 (1 2) kt3(2 3) ..8.7.5(b) .. J33 = kt3 (2 3) kt43 ..8.7.5(c) Assuming harmonic oscillations the above equations reduce to 2 J11 = kt11 kt2 (1 2) 8.7.5(a) 2 J22 = kt2 (1 2) kt3(2 3) ..8.7.5(b)

2 J33 = kt3 (2 3) kt43 ..8.7.5(c) From Eq. 8.7.5(a) we have 2 = 1 [kt11 2J1] / kt2 Adding Eqs. 8.7.5(a) and (b) and solving for 3 we get 2 3 = 2 + [kt11 2Ji i ] / kt3 ..8.7.6 i=1 Eq. 8.7.6 can be generalised to a system having n rotors. In that case the displacement of the nth rotor is given by n-1 n = n 1 + [kt11 2 Ji i ] / ktn ...................8.7.7 i=1 For a fixed-fixed system with n rotors the displacement at the (n+1)th station should be zero : that is n n+1 = n + [kt11 2 Ji i ] / ktn+1 = 0 ............8.7.8 i=1

8.7.3. Illustrative Examples

1. Using Holzers method determine the natural frequencies of the spring-mass system shown in Fig. E 8.7.1., if m1 = m2 = m3 = 1kg and k1 = k2 = 1N/m

Fig. E 8.7.1 : Schematic for example 8.7.1 Holzer method is shown in the form of a table. Position m Assume = 0.5 m2X -----------k -------------------------------------------------------------------------------------------1 1 1.00 0.25 0.25 1 0.25 2 1 0.75 0.19 0.44 1 0.44 3 1 0.31 0.07 0.51 ------------------------------------------------------------------------------------------Assume = 0.75 1 1 1.00 0.56 0.56 1 0.56 2 1 0.44 0.24 0.80 1 0.80 3 1 0.36 0.20 0.60 Position m Assume = 1.0 m2X ----------k ---------------------------------------------------------------------------------------------1 1 1 1 1 1 1 2 1 0 0 1 1 1 3 1 1 1 0 --------------------------------------------------------------------------------------------Since m2X = 0, the assumed value = 1.0 is one of the natural frequencies. Position m Assume = 1.0 m2X ----------k ---------------------------------------------------------------------------------------------1 1 1 1 1 1 1 2 1 0 0 1 1 1 3 1 1 1 0 --------------------------------------------------------------------------------------------Since m2X = 0, the assumed value = 1.0 is one of the natural frequencies. Since m2X changes sign from +ve to ve when is changed from X m2X m2X k X m2X m2X k X m2X m2X k

1.5 to 2.0, it is obvious that another natural frequency should lie between 1.5 and 2.0 rad /s. Assume = 1.75 rad / s. Position m X m2X m2X k (m2X)/ k 1 2 3 1 1 1 1 2.06 1.06 3.06 6.31 3.25 3.06 3.06 0.19 m2X 2.96 2.84 0.24 k 1 1 ( m2X )/k 2.96 2.84 1 1 3.06 3.06

Assume = 1.72 rad /s Position m X m2X 1 1 1.00 2.96 1 1 1 1 1.96 5.80 0.88 2.60

Therefore 2 1.72 rad / s. The other natural frequency is 3 = 0 (semi-definite system)

Example 8.7.2 (Fixed Free System)

Determine the natural frequencies of the system shown in Fig. E 8.7.2 using Holzers method.

2J 4J 3J
Fig. E8.7.2 : Schematic for example 8.7.2

To assume the order of n, the order of magnitude of n can be approximated by Dunkerlys equation. 1/n12 = 1/112 + 1/222 + 1/332 + 1/442 Here 112 = 4k / J ; 222 = 3k / 2J ; 332 = 2k / 3J ; 442 = k / 4J Therefore 1 / n12 = J / 4k + 2J / 3k + 3J / 2k + 4J / k = 6.42 J / k

Or

n12 = k / (6.42J) or n1 = 0.395 (k / J)

The table for finding the natural frequencies is given below. Position J Jn2 Jn2 kt ( Jn2) /kt

Assume n = 0.2(k / J) 1 1 1 1 1 Position J 4 3 2 1 1.00 0.84 0.71 0.59 0.50 Jn2 Jn2 kt (Jn2) / kt 0.16 0.10 0.056 0.024 0.16 0.26 0.317 0.342 1 2 3 4 0.16 0.13 0.105 0.09

Assume n = 0.3 (k / J) 1 1 1 1 1 4 3 2 1 1.00 0.64 0.37 0.17 0.02 Jn2 0.64 0.81 0.80 0.75 kt 1 2 3 4 (Jn2) / kt 0.64 0.41 0.27 0.19 0.36 0.17 0.07 0.02 0.36 0.53 0.60 0.62 1 2 3 4 0.36 0.27 0.20 0.15

Position J Jn2 Assume n = 0.4 (k / J) 1 2 3 4 5 4 3 2 1 1.00 0.36 0.05 0.31 0.50 0.64 0.17 0.01 0.05

The above procedure is repeated for different values of n and the displacement at the fixed end, 5 is calculated for each value of n as follows: n / (k / J) 0.2 0.3 0.4 0.6 5 0.50 0.02 0.50 1.01 0.8 1.0 1.5 1.8 n / (k / J) 0.03 2.63 1.70 40.78 5 2.0 2.5 3.0 n / (k / J) 93.0 225.5 589.0 5

A graph of 5 versus n is drawn and the values of n at which 5 = 0 are the natural frequencies. From the plot we find that n1 = 0.3 (k/J) n2 = 0.81 (k/J) ; n3 = 1.45 (k/J) ; n4 = 2.83 (k/J) Using Holzers method determine the natural frequencies for torsional vibrations of the system shown in Fig. E8.7.3 if J1 = J2 = J3 = J4 = 100 N-cm-s2/rad and kt1 = kt2 = kt3 = kt4 = 10,000 N-cm / rad.

kt1 J1

kt2 J2

kt3 J3

kt4

Fig. E8.7.3 : Schematic for example 8.7.3.

The order of magnitude of n can be estimated by Dunkerlys equation. 112 = 222 = 332 = k / J = 10000 / 100 = 100 rad / s. Therefore 1 / n12 = 1/ 100 + 1 / 100 + 1 / 100 = 3 / 100 _______ _____ Or n12 = 100 / 3 0r n1 = (100 / 3) =(33.3) rad /s. The condition to be satisfied is that the displacement at station 4, i.e., 4 = 0. The displacement at any station i can be calculated from the equation i = i 1 + (1 / kti) [ kt11 n2 Jii ] The table for calculating 4 for different values of n is shown below.

Station J J2 Assume n = 5.00 0 1 1 1 1 100 100 100 100 2500 2500 2500

0 1.0

J2 0 2500

J2 0 2500 6875

T = k11 J2 T/ k 10000 7500 3125 1.00 0.75 0.31

10000 10000 10000 10000

1.75 4375

2.06 5150 12025 1.86

2025 0.20

Similar table is constructed for different values of n and the displacement at station 4, i.e. 4 is calculated as follows: n 5.00 8.00 4 1.86 0.20 16.00 18.00 20.00 n 0.95 0.57 4.00 4 15.00 0.49 n 4

10.00 1.00

A plot of 4 versus n is drawn and the values of n at which 4 is zero is read from the graph. These values of n are the natural frequencies. Thus the natural frequencies for the given system are: n1 = 7.66 rad/s ; n2 = 14.12 rad /s and n3 = 18.57 rad /s. Example 8.7.4 (Branched System) :- Determine the lowest natural frequency of the branched system shown in Fig. E 8.7.4 if J1 = 10, J2 = 15, J3 = 20, J4 = 10, J5 = 10 , J6 = 20 N-cm-s and K1 = 100, k2 = 200, k3 = 200, k4 = 100 and k5 =150 N-cm / rad

Example 8.7.4.
J1 k1 k5 k4 J6 J5 k3 J3 k2 J2 J4

A preliminary estimate of n can be made by reducing the given system to a two rotor system as shown in Fig. E 8.7.4(a) below.

J = 20

J = 10 + 15 +20 + 10 + 10 = 65 ____________ ___________________ n = k(J1 + J2) / J1J2 = 150 x[20 + 65] /(20 x 65) =3.2 rad / s Position J J2 J2 J2 k J2 /k

Assume 2 = 1.0 1 10 10 1.00 10 10 100 0.1 2 15 15 0.90 13.5 23.5 200 0.12 5 20 10 0.78 7.8 31.3 -------------------------------------------------------------------------------------------3 20 20 1.00 20 20 200 0.10 4 10 10 0.90 9 29 100 0.29 5 10 10 0.61 6.10 35.10 At the junction, disc J5 cannot have amplitudes of 0.78 and 0.61 at the the same time. To make amplitude of J5 the same, let 0.78 / 0.61= 1.28 be the new amplitude for disc J3 Position 3 4 5 J J2 J2 k J2/k 20 20 1.28 25.6 25.6 200 0.13 10 10 1.15 11.5 37.1 100 0.37 10 10 0.78 7.8 68.4 150 0.46 J2

Torque acting on shaft k5 equals the sum of the inertia torques by Discs J1J2, J3J4 and J5 i.e.23.5 + 37.1 + 7.8 = 68.4 6 20 20 0.32 6.4 74.8* The above procedure is repeated for different values of 2 and the remainder torque J2 is calculated and the results are tabulated as follows. A graph of 2 versus J2 is plotted and the value of 2 at which J2 is zero is read from the graph as equal to 2.7. Therefore = 1.64 rad / s. 2 J2 1.0 68.4 2.0 163.2 3.0 214.7