Topics
1. Introduction to vibrations
2. Damped free vibration
3. Forced vibration
4. Transmissibility, rotating balance, vibration isolation
5. Vibration of systems with multiple degrees of freedom
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Course Expected Outcomes
1. Be able to develop mathematical model of mechanical
vibration systems
2. Be able to calculate natural frequency and period of
mechanical vibration systems
3. Be able to obtain system’s vibration response
4. Be able to deal with engineering systems involving
vibration isolation and rotating unbalance
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Teaching Materials
Prescribed Texts:
1. Jie Yang, Anna Bourmistrova,
Tom Thomas.
Learning Package: Mechanical
Vibrations.
RMIT University.
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Teaching Materials
2. Rao, S.S.
Mechanical Vibration. 5th Ed
(2011)
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Teaching Materials
References:
1. Kelly, S.G., 2012. Mechanical Vibrations: Theory and
Applications, Cengage.
2. Thomson, W.T., 1997, Theory of Vibration with
Applications, Prentice Hall.
3. Balachandran, B., 2008, Vibrations, Cengage
Learning.
4. Inman, D.J,. 2013, Engineering Vibration, Prentice
Hall.
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Topic 1
Introduction to Vibration
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Things to learn today
1. Basic concepts of vibration
2. Classification of vibration problems
3. Mathematical model to describe a vibration problem
4. Derive equation of motion using free body diagram & Newton’s law
5. Natural frequency
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Session 1.1 Vibration: Fundamentals
1. Basic Concepts
Vibration (Oscillation):
Any motion that repeats itself after an interval of time.
Typical examples: a swinging pendulum, a moving vehicle on
rough road surface, etc.
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A swinging pendulum
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A person sitting in a moving vehicle
flapping motion of an insect
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Session 1.2 Vibration and Damping
2. Classifications of vibration
Free vibration:
A system, after an initial disturbance, vibrates on its own without
any external force in the direction of movement.
Examples: a swing pendulum, transient motion at the start and end
of a machine motion, guitar strings.
Free vibration is problematic but can reveal important characteristics
such as, natural frequency, damping ratio, etc., of a vibration system.
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Session 1.2 Vibration and Damping
Forced vibration:
A system vibrates under an applied external force.
Examples:
vibration of building due m
to earthquake,
am
e
engine with unbalanced
rotating mass
k c
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Session 1.1 Vibration: Fundamentals
undamped vibration:
No resistance resulting in energy dissipation or loss during vibration.
(a swinging pendulum in vacuum).
damped vibration:
There exists resistance which leads to energy loss in the course of
vibration (a swinging pendulum in viscous fluid).
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Session 1.1 Vibration: Fundamentals
Degree of freedom (DOF)
The minimum number of independent coordinates required to
completely determine the position of all parts in a system.
m1
β β1
β2 m2
m β3 m3
single DOF system three DOF system
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Session 1.1 Vibration: Fundamentals
3. Vibration analysis procedures
mathematical modeling
derivation of governing equation
solutions of governing equation
result interpretation
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Session 1.1 Vibration: Fundamentals
Mathematical model
Represent all the important features of the system for the
derivation of governing equation.
Sometimes a preliminary model is used first and is then refined
by including more components to get a more accurate model.
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Session 1.1 Vibration: Fundamentals
Main elements in a vibratory system:
mass: store kinetic energy
spring: store potential energy
damper: dissipate energy into heat or sound by a damping
medium or a mechanism).
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Session 1.1 Vibration: Fundamentals
c k
m: the mass of the passenger
k: the spring constant (stiffness) of the spring
c: the damping constant of the seat
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Session 1.1 Vibration: Fundamentals
A motorbike with a rider
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Session 1.1 Vibration: Fundamentals
basic model: refined model:
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Session 1.2 Undamped Free Vibration
Derivation of governing equation
Free body diagram: find out all external forces on the system.
use of Newton’s second law or Energy method
Governing equation: usually an ordinary differential equation which
may be linear or nonlinear.
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Session 1.2 Undamped Free Vibration
Solution of governing equation
Analytical method, numerical method, etc.
Interpretation of results
Displacement, velocity, acceleration, etc.
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Session 1.2 Undamped Free Vibration
4. Equation of motion: Newton’s 2nd Law
4.1 Mass-spring system without damping
Fk: spring force
Fk = kx x
Fk
mg
m N
free body diagram
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Session 1.2 Undamped Free Vibration
Note: no need to consider the forces vertical to the direction of
movement since they do not affect the motion of the system.
From Newton’s law
ma = − Fk
mx(t ) + kx(t ) = 0 governing equation of motion
This is the second-order linear ordinary differential equation governing
the motion of the undamped mass-spring system.
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Session 1.2 Undamped Free Vibration
This governing equation can be re-written in the form of
x(t ) + n2 x(t ) = 0
where n = k / m is the natural frequency of the system.
The natural frequency is a function of system parameters only
and is independent of external forces.
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Session 1.2 Undamped Free Vibration
4.2 Mass-spring system with damping
Fk: spring force
Fk = kx(t )
Fc: damping force
Fc = cx (t ) x
Fc Fk
Fc is opposite to the velocity direction. mg
free body diagram
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Session 1.2 Undamped Free Vibration
From Newton’s law
ma = − Fc − Fk
mx(t ) + cx (t ) + kx(t ) = 0 governing equation of motion
This is the second-order linear ordinary differential equation governing
the motion of the damped mass-spring system.
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