eyo Compe CaloigPaioten Dat "Phghesing rata / Dank ots lorie ference an ine, Baoan ae iooNw s+) Editorial Diretor, Computer Scene, Engnecring. and Advanced Mathematics: Marca orton Acgulstions Editor: Taey Quin itor Assistant owner Lanschein ‘Senior Managing Eater: Scot Dis Aan Director lone Cone (Cover Designer Brice Kenslaar [AM Editor Greg Dulles Manufacturing Buyer Li McDowell “Marketing Matape: Tn Gallon {©2008 2001 ty Pearson Bduation, Ine Pearson Education, Ie. Upper Sadie River, New Jersey 7458 Al rigs reserved. No part ofthis Book may be ‘apres in any form or by any meas, ‘nthoutpernion i writing fom the publises “The author and publishec have wed thee best fot in proparing this took. These efforts nude the dlovcopment recarch ad testing of he theories nd prams to determine ther ffectivenes The author ‘Sa pbishe hal aot beable tray event for ncienta or consequential damages connesion with, ot [rang out of he furnishing performance, fuse ofthese theories and programs. Printed inthe United States of Ameria wes76sesat ISBN 0-13-228173-2 Poarton Edvoation, Lu London Pearson Education Ausra Py. Lite, Sydney Pearson Eduention Singapore PleLid Pearson Edetion Nort Asia Lid Hong Kong Pearson Education Canad, Ltd Teron Pearson Eduason de Mesico, SA. de CV. earn Eduction Japa, Toby Pearon Edvetion Malaysia, Pte Lid To Catherine Ann Little, Daniel John Inman, Il Angela Wynne Pitre, and Jennifer Wren ScamaccaContents PREFACE xi INTRODUCTION TO VIBRATION AND THE FREE RESPONSE 1 11 Introduction to Free Vibration 2 12 Harmonie Motion 11 13. Viscous Damping 19 14 Modeling and Energy Methods 28 1S Stiffness 41 1.6 Measurement 49 17 Design Considerations 55 18 Stability 59 1.9 Numerical Simulation of the Time Response 63 1.10 Coulomb Friction and the Pendulum 71 Problems 85 ‘Matias Engineering Vibration Toolbox 100 ‘Toolbox Problems 101 ‘RESPONSE TO HARMONIC EXCITATION 102 24 Harmonic Excitation of Undamped Systems 103 22 Harmonic Excitation of Damped Systems 114 23° Altemative Reptesentations 125 24 Base Excitation 130 25 Rotating Unbalance 139 2.6 Measurement Devices 144Contents 27 Other Forms of Damping 148 28 Num ical Simulation and Design 158 29 Nonlinear Response Properties 165 Problems 175 ‘Marian Engineering Vibration Toolbox 189 ‘Toolbox Problems 190 GENERAL FORCED RESPONSE 191 3.1 Impulse Response Function 193 32. Response to an Arbitrary Input 201 33. Response to an Arbitrary Periodic Input 207 34 Transform Methods 214 35 Response to Random Inputs 218 36 Shock Spectrum 226 37 Measurement via Transfer Functions 230 38° Stability 233 39. Numerical Simulation of the Response 237 3410 Nonlinear Response Properties 248 Problems 256 Maras Engineering Vibration Toolbox 267 ‘Toolbox Problems 267 MULTIPLE-DEGREE-OF-FREEDOM SYSTEMS 269 4.1 ‘Two-Degree-of-Freedom Model (Undamped) 270 42. Bigenvalues and Natural Frequencies 282 43° Modal Analysis 295 44 More'Than Two Degrees of Freedom 303 45° Systems with Viscous Damping 317 46 Modal Analysis ofthe Forced Response 323 47 Lagrange’s Equations 330 Contents 48 Examples 337 49° Computational Bigenvalue Problems for Vibration 349 4.10, Numerical Simulation of the Time Response 367 Problems 375 Maras Engineering Vibration Toolbox 389 ‘Toolbox Problems 389 DESIGN FOR VIBRATION SUPPRESSION 51 Acceptable Levels of Vibration 391 52. Vibration Isolation 397 53. Vibration Absorbers 410 54 Dampingin Vibration Absorption 417 55 Optimization 424 56 Viscoelastic Damping Treatments 432 5.7 Critical Speeds of Rotating Disks 437 58 Active Vibration Suppression 443 59° Practical Isolation Design 445 Problems 453, Maras Engineering Vibration Toolbox 463 Toolbox Problems 463 DISTRIBUTED-PARAMETER SYSTEMS 6.1 Vibration of a String or Cable 466 62 Modes and Natural Frequencies 469 63. Vibration of Rods and Bars 480 64 Torsional Vibration 486 65 Bending Vibration of aBeam 493 66 Vibration of Membranes and Plates 50S 6.7 Models of Damping S11 68 Modal Analysis ofthe Forced Response 516