Vibration Engineering

Damped and Undamped Free Vibrations

Of Torsional Members
Torsional Vibration
The DE for free, undamped,
torsional vibration of the disk-shaft
system is

= 0
Where:

-mass moment of inertia of the

disk

-is the torsional spring constant of

shaft
-torsional deflection of shaft/disk

Torsional Vibration
The solution to the differential equation is
=
1
sin +
2
cos
Where =

and =

2
=
1
2

and =
1

= 2

Solving for the arbitrary constants using the initial conditions;

2
=
0
and
1
=

0

Thus the solution becomes:
=

sin +
0
cos
Torsional Vibration
In another form:
= sin +

Where =

2
+

2

and tan

0


Or =

Where =

2
+

2

and tan

Mass Moment of
Inertia
This mass analog is called the
moment of inertia, I, of the
object

r = moment arm
SI unit are kg-m
2

}
=
m
dm r I
2
}}}
= dz dy dx r I
2

dV r I
dV dm
}
=
=
2
: density volume the is where , Using

Shell Element
Disk Element
dy z y dV ) 2 ( t =
dz y dV ) (
2
t =
) 2 ( h dr r dV dm t = =
) (
2
1
2
2
2 2 4
0
3 2
h R R h R dr r h dm r I
R
m
t
t
t = = = =
} }
h R m
2
t =
2
2
1
R m I
z
=
Example
When the
object is
made up of
point
masses you
calculate
moment of
inertia using:

2
i i
i
I r m =

Rod Thin
12
1
2
ML I =
L
end) at (axis Rod Thin
3
1
2
ML I =
L
Disk Solid
2
1
2
MR I =
R
Cylinder Hollow
) (
2
1
2
2
2
1
R R M I + =
R
2
R
2
Cylinder Hollow d Thin Walle
2
MR I =
R
a
b
center) (through Plate r Rectangula
) (
12
1
2 2
b a M I + =
a
b
edge) (about Plate r Rectangula Thin
3
1
2
Ma I =
Sphere Solid
5
2
2
MR I =
R
Sphere Hollow d Thin Walle
3
2
2
MR I =
R
Moments of inertia for some common geometric
solids
Parallel Axis Theorem
The moment of inertia about any axis parallel to
and at distance d away from the axis that
passes through the centre of mass is:


Where
I
G
= moment of inertia for mass centre G
m = mass of the body
d = perpendicular distance between the parallel axes.
2
md I I
G O
+ =
Radius of Gyration
Frequently tabulated data related to moments of inertia will be
presented in terms of radius of gyration.
m
I
k or mk I = =
2
Mass Center

=
i
i i
m
m y
y
~
Example
ft 5 . 1
) 2 . 32 / 10 ( ) 2 . 32 / 10 (
) 2 . 32 / 10 ( 2 ) 2 . 32 / 10 ( 1
~
=
+
+
= =

i
i i
m
m y
y
10 Ib
10 Ib
Ex: Moment of Inertia of a Uniform Thin
Hoop for Axis perpendicular to the plane
at the Center of the Hoop
Assume r is constant

2
2
2
I r dm R dm
I MR
= =
=
} }
Example 1
An aluminium disk is shrunk onto a
steel shaft to form the rearrangement
of simple torsional system of cantilever
type. The length L of the shaft is 80
in., the diameter d of the shaft is 2 in.,
the shear modulus G is 12x10
6
psi, and
the shaft is assumed to be weightless.
If the mass moment of inertia I of the
disk is 2.8 in.lbs
2
, determine the
torsional frequency of the one degree
disk-shaft system and its period of
vibration.


SOLUTION
Given:
d = 2 in

= 2.8 /
2

G= 12x10exp6
L = 80 in
For shaft torsional constant:

Substituting values:

= 235619.45in-lb/rad
For torsional frequency:
=

=
235619.45
2.8
=290.08rad/s
=
2

= 0.022/
Example 2
The disk and gear undergo
torsional vibration with the
periods shown. Assume that
the moment exerted by the
wire is proportional to the twist
angle.
Determine a) the wire torsional
spring constant, b) the
centroidal moment of inertia of
the gear, and c) the maximum
angular velocity of the gear if
rotated through 90
o
and
released.

s 13 . 1
lb 20
n
=
=
t
W
s 93 . 1 =
n
t
SOLUTION

Using the free-body-diagram equation for the equivalence of the
external and effective moments, write the equation of motion for
the disk/gear and wire.
With the natural frequency and moment of inertia for the disk
known, calculate the torsional spring constant.
With natural frequency and spring constant known, calculate the
moment of inertia for the gear.
Apply the relations for simple harmonic motion to calculate the
maximum gear velocity.
SOLUTION
s 13 . 1
lb 20
n
=
=
t
W
s 93 . 1 =
n
t
SOLUTION

Using the free-body-diagram equation for the equivalence of
the external and effective moments, write the equation of
motion for the disk/gear and wire.
( ) :

=
eff
O O
M M
0 = +
= +
u u
u u
I
K
I K


K
I
I
K
n
n n
t
e
t
t e 2
2
= = =
With the natural frequency and moment of inertia for the disk
known, calculate the torsional spring constant.
2
2
2
2
1
s ft lb 138 . 0
12
8
2 . 32
20
2
1
=
|
.
|

\
|
|
.
|

\
|
= = mr I
K
138 . 0
2 13 . 1 t =
rad ft lb 27 . 4 = K
Solution
With natural
frequency and spring
constant known,
calculate the moment
of inertia for the gear.

Apply the relations
for simple harmonic
motion to calculate
the maximum gear
velocity.


27 . 4
2 93 . 1
I
t =
2
s ft lb 403 . 0 = I
n m m n n m n m
t t e u e e e u e e u u = = = sin sin
rad 571 . 1 90 = =
m
u
( )
|
.
|

\
|
=
|
|
.
|

\
|
=
s 93 . 1
2
rad 571 . 1
2 t
t
t
u e
n
m m
s rad 11 . 5 =
m
e
Example 3
A cylinder of weight W
is suspended as
shown.
Determine the period
and natural frequency
of vibrations of the
cylinder.

k
SOLUTION
From the kinematics of the
system, relate the linear
displacement and
acceleration to the rotation
of the cylinder.
Based on a free-body-
diagram equation for the
equivalence of the external
and effective forces, write
the equation of motion.
Substitute the kinematic
relations to arrive at an
equation involving only the
angular displacement and
acceleration.

SOLUTION
From the kinematics of the system, relate the linear displacement
and acceleration to the rotation of the cylinder.
u r x = u o r x 2 2 = =
u o

r r a = = u o

= u

r a =
Based on a free-body-diagram equation for the equivalence
of the external and effective forces, write the equation of
motion.
( ) :

=
eff
A A
M M
( ) o I r a m r T Wr + = 2
2
( ) u o r k W k T T 2 but
2
1
0 2
+ = + =
SOLUTION
Substitute the kinematic relations to arrive at an
equation involving only the angular displacement
and acceleration.
( )( ) ( )
0
3
8
2 2
2
2
1
2
1
= +
+ = +
u u
u u u
m
k
mr r r m r kr W Wr


m
k
n
3
8
= e
k
m
n
n
8
3
2
2
t
e
t
t = =
m
k
f
n
n
3
8
2
1
2 t t
e
= =
Damped Free Vibration of Rotational Bodies

The DE of the above rotational
system is

= 0

The solution to this DE is
=
;

1
cos 1
2
+
2
sin 1
2

= 1
2
damped natural frequency

I
Damped Free Vibration of Rotational Bodies
The equation can also be written in the form

=
;
sin

Where =
1
2
+
2
2
=
0
2
+

0
:
0
2

= tan
;1

1

2
=

0
+
0

=
1

=
2

=
2
1
2

The logarithmic decrement is =
2
1;
2



Example 1
A simple disk-shaft of cantilever type is
subjected to a torsional oscillatory motion that
is under the influence of viscous damping. If
K
t
= 20,000 Nm/rad and J = 12.6 Nms
2
,
determine the value of the viscous damping
constant c so that the damped torsional
frequency
d
of the disk shaft system is 80%
of its free, undamped, torsional frequency
.
Also calculate the values of ,
d
, , and
d
.

Example 2
A viscously damped system has a
stiffness of 5,000 N/m, critical
damping constant of 0.2 N-s/mm,
and a logarithmic decrement of 2.0.
If the system is given an initial
velocity of 1 m/s, determine the
maximum displacement of the
system.

ASSIGNMENT 1
An aluminium shaft is shrunk onto a steel shaft
to form the rearrangement shown in Fig. 2.22.
The two portions of the shaft have the same
length L = 60 in. and the same diameter d =
2in. The steel shear modulus G = 12 x 10
6
psi,
and the shaft is assumed to be weightless. If
the moment of inertia J of the disk is 2.8
in.lbs
2
, determine the torsional frequency of
vibration of the one-degree disk-shaft system
and its period of vibration.

ASSIGNMENT 2
A simple disk-shaft of cantilever type is
subjected to a torsional oscillatory motion
that is under the influence of viscous
damping with damping constant c = 450.0
N ms/rad. If the length of the shaft is
4.0m and J = 14.50 Nms
2
, determine the
diameter d of the shaft when the damped
torsional frequency of vibration is 32.0 rps.
The shear modulus G of the steel shaft is 80
x 10
9
N/m
2
.

Assignment 3
The needle indicator of an electronic
instrument is connected to a torsional
viscous damper and a torsional spring. If
the rotary inertia of the needle indicator
about its pivot point is 25 kg-m
2
and the
spring constant of the torsional spring is
100 N-m/rad, determine the damping
constant of the torsional damper if the
instrument is to be critically damped.

Assignment 4
A viscously damped system has a
stiffness of 5,000 N/m, critical
damping constant of 0.2 N-s/mm, and
a logarithmic decrement of 2.0. If the
system is given an initial velocity of 1
m/s, determine the maximum
displacement of the system.

Assignment 5
A torsional pendulum has a natural
frequency of 200 cycles/min when
vibrating in a vacuum. The mass moment
of inertia of the disc is 0.2 kg-m
2
. It is
then immersed in oil and its natural
frequency is found to be 180 cycles/min.
Determine the damping constant of the
disc, when placed in oil, is given an initial
displacement of 2
o
, find its displacement
at the end of the first cycle.

Assignment 6
A simple pendulum is set into
oscillation from its rest position by
giving it an angular velocity of 1rad/s.
It is found to oscillate with an
amplitude of 0.5rad. Find the natural
frequency and length of the
pendulum.

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