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Single Degree of
UNIT 8 SINGLE DEGREE OF FREEDOM Freedom System :
Forced Vibration
SYSTEM : FORCED VIBRATION
Structure
8.1 Introduction
Objectives
8.2 Analysis of a Single Degree of Freedom System for Forced Vibration
8.2.1 Frequency Ratio Corresponding to the Maximum Amplitude
8.2.2 Representation of Harmonic Quantities as Rotating Vectors
8.3 Vibration of Machine having Rotating/Reciprocating Parts
8.4 Whirling of Shafts
8.5 Summary
8.6 Key Words
8.7 Answers to SAQs

8.1 INTRODUCTION
It has been observed in the last unit that the systems having mass and elasticity are prone
to the vibrations, if they are excited. When a system is excited it starts vibrating and it
vibrates at natural frequency if it executes natural vibration. The natural frequency of
vibration depends on stiffness and mass. If the system is excited continuously, the system
vibrates with forced vibration and frequency of the vibration is equal to the frequency of
the exciting force. The excitation to the system can be due to the unbalance which always
exists because complete balancing is never done due to the practical reasons.
If forcing frequency becomes equal to the natural frequency, the resonance occurs and
amplitude of vibration becomes very high due to the resonance. High amplitude results in
high stresses. The precaution has to be taken so that failure does not occur due to these
high stresses. Therefore, known of natural frequency of the system should be known to
the operator in order to save the system near resonance. If system has to operate near the
resonance, damping should be incorporated in the system to limit the amplitude.
In a machine having rotating or reciprocating parts, the system is continuously excited by
the force due to the unbalance in the machinery having rotating parts depends on the
executricity of the rotating mass. The exciting force depends on the unbalance and the
speed of rotation. In case of machine having reciprocating parts, the unbalance depends
on crank radius which is always larger than the eccentricity of rotating mass. Therefore,
reciprocating machine has larger amplitude of vibration than a rotating machine because
of larger exciting force.
Objectives
After studying this unit, you should be able to
• analyse forced vibration of a machine,
• analyse vibration of machine having rotating/reciprocating parts,
• analyse whirling of shafts, and
• understand behaviour of machine due to the harmonic excitation.

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Static and Dynamic
Force Analysis and 8.2 ANALYSIS OF SINGLE DEGREE OF FREEDOM
Mechanical Vibration
SYSTEM FOR FORCED VIBRATION
A single degree of freedom system is shown in Figure 8.1. It consists of mass m, spring
of stiffness k, damper of damping coefficient ‘c’. It is subjected to a external harmonic
force Fo sin wt. The vibration of mass takes place under the influence of the external
force. That is why this is a case of forced vibration. The force body diagram of the body
is also shown. Considering x and x positive as shown in the Figure 8.1.
∴ m x + c x + k ( x + Δ ) = mg + Fo sin wt

m x + c x + k x = Fo sin wt . . . (8.1)

Fosinωt
c

..
x

x
K(x+∆) .
cx

mg
mx

Fg sixωt

Figure 8.1

It may be noted that the selection of static equilibrium position as reference line
eliminates the need to consider the weight of mass in the force body diagram because
initial extension in the spring takes case of weight of the body.
The general solution of the differential Eq. (8.1) shall consist of two parts.
x = Complementary fluctuation + Particular integral
The complemental function is obtained by making right hand side zero. It is solution of
the following differential equation
mx + cx + k x = 0
It is the same equation represented by Eq. (7.13). The solution of this equation is given
by Eq. (7.22), i.e.

x = X ′ e − δ ωn t cos (ω d t + φ′)
To determine particular integral a trial function can be assumed as follows :
x p = E sin ωt + F cos ωt . . . (8.2)

The necessary condition is that this trial function should satisfy the differential
Eq. (8.1). Substituting value of xp for x in Eq. (16.1), we get

m ( − E w2 sin ωt − B w2 cos ωt ) + c ( E . w cos ωt − F w sin ωt )

+ k ( E sin ωt + F cos ωt ) = Fo sin ωt

or {E ( k − mω2 ) − c F w} sin ωt + {c E ω + F ( k − mω2 )} cos ωt = Fo sin ωt

Equating coefficient of sin wt and cos wt on both sides
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Single Degree of
( k − mω2 ) E − c ω F = Fo Freedom System :
Forced Vibration
c w F + ( k − mω2 ) F = 0
From these two equations the values of E and F can be determined.

Fo (k − mω2 )
E=
(k − mω2 )2 + (cω) 2

− (cω) Fo
and F=
(k − mω2 ) 2 + (cω)2
After substituting the values of E and F in Eq. (8.2) the following is obtained.
Fo
xp = {(k − mω2 ) cos ωt − (cω) cos ωt}
(k − mω ) + (cω) 2
2 2

Rearranging the terms, the following expression is obtained.

Fo
xp = sin (ωt − φ)
(k − mω2 )2 + (cω)2

The phase angle φ is given by

cω
φ = tan −1
k − mω2

or x p = Fo X sin (ωt − φ) . . . (8.3)

Fo
where X =
( k − mω2 ) 2 + (cω) 2

Fo
= k
2
⎛ m 2⎞ (cω) 2
⎜ 1 − ω ⎟ +
⎝ k ⎠ k

Fo
Let = xst (The displacement when only Fo is acting as static force).
k
cw c Cc ω c 2m ωn W 2δ ωn W
= × = × =
k Cc k Cc k ω2n

⎛ ω⎞ ⎡ m 1 ⎤
= 2 ⎜δ ⎟ ⎢∵ = 2 ⎥ and Cc = 2m ωn
⎝ ωn ⎠ ⎢⎣ k ωn ⎥⎦

xst
X =
2
⎧⎪ ⎛ ω ⎞2 ⎪⎫ ⎛ ω⎞
2

⎨1 − ⎜ ⎟ ⎬ + ⎜ 2δ ⎟
⎪⎩ ⎝ ωn ⎠ ⎭⎪ ⎝ ωn ⎠

1
If DM =
2
⎧⎪ ⎛ ω ⎞ 2 ⎫⎪ ⎛ ω⎞
2

⎨1 − ⎜ ⎟ ⎬ + ⎜ 2δ ⎟
⎪⎩ ⎝ ωn ⎠ ⎪⎭ ⎝ ωn ⎠

∴ X DM xst
= × . . . (8.4) 75
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Static and Dynamic ⎛ ω ⎞
Force Analysis and DM stands for the dynamic magnifier. It depends on the frequency ratio ⎜ ⎟ and
Mechanical Vibration ⎝ ωn ⎠
damping factor. It is dimensionless.

ζ =0
4.0

3.0

xst
X
2.0

ζ increasing
1.0

0
1.0 2.0 3.0
ω/ωn

X
Similarly DM =
xst

(a)

(b)
Figure 8.2

The frequency ratio vs dynamic magnifier and frequency ratio vs phase angle diagrams
are shown in Figure 8.2. The following observations can be made based on these
diagrams :
(a) The dynamic magnifier varies between nearly zero at very high frequency
ratio to more than 1 at resonance.
(b) For very low damping factor the dynamic magnifier is very large at
⎛ ω ⎞
resonance ⎜ = 1⎟ nearly equal to infinity. But as the damping factor
⎝ ωn ⎠

ζ reducing

π/2
Φ

ζ = 0.707
ζ reducing

ω/ωn

increases this value reduce. That means damping in the system has to play a
role at the resonance. The systems which operate near the resonance should
have high amount of damping to reduce amplitude or thereby stresses.
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Single Degree of
(c) For frequency ratio more than 2 , dynamic magnifier is less than 1 and
Freedom System :
keeps on reducing as frequency ratio increases. Forced Vibration

ω
(d) For low damping phase angle is less than 90o for < 1 and φ ≥ 90 for
ωn
ω ω
> 1 . For = 1 , φ = 90o.
ωn ωn
ω
(e) For δ = 0.707, φ is linear for ≤ 1.
ωn
The general solution of the differential Eq. (16.1) is given by
x = X ′ e − δ ωn t cos (ωd t + φ′) + X sin (ωt − φ) . . . (8.5)
The first part of the solution is the CF and dies out in a small amount of time which may
be few seconds. This is called transient part of the solution. The second part of the
solution represents the steady state solution and mass vibrates due to this as long as
exciting force activates the system. When the system vibrates if is subjected to fatigue
stresses. Therefore, larger damage is done to the system due to the larger number of stress
due to fatigue loads. The transient solution is not of practical importance and we
generally deal with steady state solution because it causes more damage to the system.
8.2.1 Frequency Ratio Corresponding to the Maximum Amplitude
The steady state amplitude is given by
X = DM × xst
Therefore, X will be maximum if DM is maximum. Since
1
DM = . . . (8.6)
2
⎧⎪ ⎛ ω ⎞ 2 ⎫⎪ ⎛ ω⎞
2

⎨1 − ⎜ ⎟ ⎬ + ⎜ 2δ ⎟
⎪⎩ ⎝ ωn ⎠ ⎪⎭ ⎝ ωn ⎠

DM will be maximum if denominator is minimum, i.e.

f ( r ) = {(1 − r 2 ) 2 + 4δ 2 r 2 }
is minimum.
ω
where r=
ωn
d f (r )
= f (r ) = {2 (1 − r 2 )} × (− 2r ) + 4δ2 × 2r = 0
dr
or − (1 − r 2 ) + 2δ 2 = 0

or r 2 = 1 − 2δ 2

or r = 1 − 2δ 2

or ω = ωn 1 − 2δ 2 . . . (16.7)
As damping increases the frequency for maximum amplitude reduces. The maximum
amplitude is given by
xst xst
X max = = . . . (8.8)
{1 − (1 − 2δ2 )}2 + 4δ 2 (1 − 2δ)2 2δ 1 − δ 2
whereas amplitude at the resonance
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Static and Dynamic 1
Force Analysis and X resonance = . . . (8.9)
Mechanical Vibration 2δ
When damping is very small both are nearly same.
SAQ 1
(a) Why it is advantageous to know natural frequency of a machine?
(b) What is phase angle and amplitude at resonance?
(c) How much is maximum amplitude and which frequency ratio it occurs?

8.2.2 Representation of Harmonic Quantities of Rotating Vectors

The steady state vibration of a spring mass system shown in Figure 16.1 is given by
Eq. (16.3) which is as follows :
x = X sin (ωt − φ)

This vibration occurs under the influence of a harmonic exciting force Fo sin ωt. The
velocity and acceleration of the mass are given by
⎧ π ⎫
x = X ω cos ( wt − φ) = X ω sin ⎨ωt + − φ ⎬
⎩ 2 ⎭

and x = − X w2 sin ( wt − φ) = X w sin {wt + π − φ}

A harmonic function of time can be conveniently represented by a rotating vector as
shown in Figure 8.3. All these vectors are rotating vectors and angular speed of rotation
is ω, the frequency of the force. The spring mass system remains under dynamic equilib-
rium under the action of spring force, damping force, inertia force and external force F.
Figure 16.4 represents the force diagrams for three conditions :
ω
(a) < 1,
ωn

ω
(b) = 1 , and
ωn

ω
(c) > 1.
ωn
ωn
ωx
ω x

X sin (ωt − φ)
Φ

ωt

2
ωx

Figure 8.3

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ω Single Degree of
These forces form force polygons. For < 1 , inertia force is less than the spring force. Freedom System :
ωn Forced Vibration
ω ω
For = 1 , inertia force is equal to the spring force. For > 1 , the inertia force is
ωn ωn
larger than spring force.

2 2 2
Mω x Mω x Mω x

f
f f
cωx cωx cωx

kx kx kx

(a) (b) (c)

Figure 8.4

SAQ 2
(a) How differential forces are represented as vectors and how equilibrium is
maintained in the system?
(b) Why transmit function is not important in comparison to steady state
function?

8.3 VIBRATION OF MACHINE HAVING

ROTATING/RECIPROCATING PARTS
Rotating/reciprocating machine is shown in Figure 8.5. The machine is mounted on the
elastic foundation, the stiffness of which is represented by k. Let ‘c’ be the damping
coefficient.
Let m = rotating mass,
M = mass of the complete machine, and
e = eccentricity.
The differential equation will be
md 2
( M − m) x + ( x + e sin ωt ) + cx + kx = 0
dt 2
or ( M − m) x + mx − m e ω2 sin ωt + cx + kx = 0

or M x + cx + kx = m e ω2 sin ωt . . . (8.10)

m
θ
x
ω
r

k/2 c k/2
c 79
k/2 k/2
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Static and Dynamic (a) (b)
Force Analysis and
Figure 8.5
Mechanical Vibration
Eq. (8.10) is similar to Eq. (8.1). The same analysis can be carried out and the steady
solution of the above differential equation can be obtained which is
x = X sin (ωt − φ)

m e ω2
where X =
{k − m ω2 }2 + (c ω)2

m e ω2 m ⎛M ⎞ 2
= DM × = DM ⎜ ⎟ eω
k M ⎝ k ⎠
2
⎛ me ⎞ ⎛ ω ⎞
k
or X = DM ⎜ ⎟ ⎜ ⎟ . . . (8.11)
⎝ M ⎠ ⎝ ωn ⎠
In the diagram of the phase there is change and is same as that in Figure 8.2.
ζ Increasing
π

ζ =0 Φ
xm/me
Increasing
π/2

1.0

ζ =1.0 ζ Increasing

1.0 ω/ωx
1.0 ω/ωx

Figure 8.6

⎛ XM ⎞
The frequency response diagram is also shown in Figure 8.6. The ratio ⎜ ⎟ is
⎝ me ⎠
⎛ ω ⎞
plotted against frequency ratio ⎜ ⎟ . The curve starts from zero and it reaches
⎝ ωn ⎠
XM
maximum value near the resonance and after that it becomes asymptotic at = 1.0 .
me
As discussed in the earlier section if machine operates near the resonance sufficient
damping should be provided in the system. If we want that vibration should not occur,
damping equal to the critical damping should be provided.
In case of reciprocating machinery eccentricity ‘e’ is replaced by the crank radius ‘r’ in
the expressions and rest of the formulae and expressions are same.
SAQ 3
(a) In which respect the vibration of a machine having rotating parts differs
from vibration of a machine subjected to an exciting harmonic force?
(b) Why amplitude of vibration of machine having reciprocating machine is
larger than the machine having rotating parts?

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Single Degree of
Freedom System :
Forced Vibration

8.4 WHIRLING OF SHAFTS

During whirling of the shaft there are two component rotations :
(a) Rotation of the disc about its own bent up axis.
(b) Rotation of the plane marked by ‘X’ between the bent up axis and bearing
centre line about the bearing centre line oo′.

0 0’

Figure 8.7

These two rotational speed may be same or different. If they are same then it is called
synchronous whirl otherwise it is non-synchronous whirl.
At critical speed, shaft vibrates with very large amplitude that may result in the
breakdown of the shaft.
Consider a light vertical shaft shown in Figure 8.8.
Let m = mass of the disc,
e = eccentricity of the centre of gravity and disc from the shaft axis centre on the
disc ‘S’.
k = stiffness of the shaft in lateral direction,
ω = angular speed of the disc about shaft axis, and
y = lateral distance of ‘S’ from ‘O’ which is the point of intersection of bearing
axis at the disc.
O”

y e

(a) o G
s

O’

ky
(b) 2
O S G M(y=e) ω
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Static and Dynamic
Force Analysis and
Mechanical Vibration Figure 8.8

Let us consider first that there is no damping in the system. The various forces acting on
the disc are shown in Figure 8.8(b). Therefore,

ky = m ( y + e) ω2
2
m ⎛ ω⎞
e ω2 e⎜ ⎟
me ω 2
k ⎝ ωn ⎠
or y= = = . . . (8.12)
(k − m ω2 ) 1 − m ω2 ⎛ ω⎞
2

k 1− ⎜ ⎟
⎝ ωn ⎠

k
when ω = ωn, i.e. at resonance, the deflection ‘y’ becomes infinite. Thus, ωn = is
m
the critical speed of the shaft. The shaft should operate in the neighbourhood of this
speed otherwise shaft may breakdown. When ω < ωn, the deflection is positive that is the
layout of deflection y is in the same sense as e and this layout is shown in Figure 8.8(b).
Phase angle in this case is zero. When ω > ωn, deflection ‘y’ is negative. This means that
the layout of ‘y’ and ‘e’ are opposite to each other. This means that the phase angle is π.
The layout of O, G and S are same shown in Figure 8.9. This is the most stable condition
for the rotor.

G S

Figure 8.9

When there is damping in the shaft system, the free body diagram of the disc is shown in
Figure 8.10. In this free body diagram the layout of the points O, S and G have been
shown. The phase angle ‘φ’ is given by
⎛ ω⎞
2δ ⎜ ⎟
⎝ ωn ⎠
tan φ =
2
⎛ ω⎞
1− ⎜ ⎟
⎝ ωn ⎠
This expression was derived in the earlier section.
2
mφω 2
meω

G
ky Φ
2
2 myω
myω O ky Φ
S

cyω cyω

Figure 8.10

The force equation can be written as follows :

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Single Degree of
( k − m ω2 ) y = m e ω2 cos φ Freedom System :
Forced Vibration
and c ω y = m e ω2 sin φ . . . (8.13)

Solving the above expressions

2
⎛ ω ⎞
e⎜ ⎟
y=
m e ω2
= ⎝ ωn ⎠
(k − m ω2 ) 2 + (c ω) 2 ⎧⎪ ⎛ ω ⎞2 ⎫⎪
2 2
⎛ ω ⎞
⎨1 − ⎜ ⎟ ⎬ + ⎜ 2ζ ⎟
⎪⎩ ⎝ ωn ⎠ ⎪⎭ ⎝ ωn ⎠

when ω > ωn, the deflection of the shaft is given by the above expression the location of
O, S and G is shown in Figure 8.11.

G
O S Φ

Figure 8.11

⎛ 1 ⎞
When ω = ωn, the shaft shall rotate with whirl radius equal to ⎜ ⎟ which is maximum.
⎝ 2δ ⎠
The location of O, S and G is shown in Figure 16.12.

O S

Figure 8.12

When ω > ωn, the deflection or whirl radius becomes less than earlier case but phase
π
angle φ is more than . The point G tends to lie between O and S. The location of O, S
2
and G is shown in Figure 8.13.

G
φ
O S

Figure 8.13

SAQ 4
(a) How whirling is different as compared to the rotation about its axis?
(b) Show the relative position of the centre of gravity, centre of shaft axis and
bearing axis centre for various cases for undamped and damped condition.

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Static and Dynamic
Force Analysis and
Mechanical Vibration

Example 8.1
A machine weighing 1000 kg is mounted on the floor identical spring having
stiffness of each spring equal to ‘k’. The machine is excited by a harmonic force
having amplitude equal to 500 N and frequency equal to 200 rpm. Determine the
amplitude of vibration of the machine for k = 0.5 × 106 N/m. Neglect damping.
Solution
Given data :
Fo = 500 N
Total stiffness = 4k = 4 × 0.5 × 106 = 2.0 × 106 N/m
Mass = 1000 kg
2π 200
∴ ω= = 20.94 r/s
60

2.0 × 106
ωn = = 44.72 r/s
1000

Fo 500
2 × 106
Amplitude X = k
2
= 2
= 3.2 × 10− 4 m
⎛ ω⎞ ⎛ 20.94 ⎞
1− ⎜ ⎟ 1−⎜ ⎟
⎝ ωn ⎠ ⎝ 44.72 ⎠

or X = 0.32 mm
Example 8.2
The rotor of a turbo super charger weighting 10 kg is keyed to the centre of a
25 mm diameter steel shaft. The span length of the shaft is 50 cm. Determine
critical speed of the shaft and amplitude of vibration of the rotor at a speed of
300 rpm. The eccentricity of mass is 0.015 mm. Assume E = 2.0 × 1011 Pa.
Solution
Given data :
Rotating mass = 10 kg Di-
ameter of shaft = 25 mm
Span length ‘l’ = 50 cm
E = 2.0 × 1011 Pa
Eccentricity ‘e’ = 0.015 mm
Speed = 3000 rpm
w = 10 × 9.81 = 98.1 N
4
π 4 π ⎛ 2.5 ⎞ −8
I= d = ⎜ ⎟ = 1.92 × 10 m
4
64 64 ⎝ 100 ⎠
Considering shaft to be simply supported
ωl 3 98.1 (0.5)3
∴ δ= = −
= 6.58 × 10− 5 m
48 EI 4.8 × 2 × 10 × 1.92 × 10
11 8
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Single Degree of
g 9.8
ωn = = = 386.15 r/s Freedom System :
δ 6.58 × 10− 5 Forced Vibration

2π 3000
ω= = 314.16
60
ω 314.16
= = 0.814
ωn 386.15
Amplitude of vibration
2
⎛ ω⎞
e⎜ ⎟
ω 0.015 (0.814) 2
X = ⎝ n⎠2 = = 3.35 × 10− 3 mm
⎛ ω⎞ 1 − (0.814) 2
1− ⎜ ⎟
⎝ ωn ⎠
Example 8.3
A disc of mass 4 kg is mounted on a shaft of 10 mm diameter at the centre between
the two short bearings. The span length is 50 cm. The eccentricity of mass is 2 mm
from the geometric centre of the disc. The equivalent viscous damping at the point
of disc mounting is 50 N sec/m. The angular speed of the shaft is 250 rpm.
Determine :
(a) the maximum stress in the shaft, and
(b) the power required to derive shaft.
Assume E = 2.0 × 1011 Pa.
Solution
Given data :
Mass ‘m’ = 4 kg
Diameter of shaft ‘d’ = 10 mm = 1 × 10– 2 m
Shaft span ‘l’ = 50 cm = 0.5 m
Eccentricity ‘e’ = 2 m = 2 × 10– 3 m
Shaft speed ‘N’ = 250 rpm
E = 2.0 × 1011 Pa
π 4 π
I= d = (1.0 × 10− 2 )4 = 4.9 × 10−10 m 4
64 64
wl 3 (4 × 98.1) (0.5)3
δ= = −
= 1.04 × 10− 3 m
48 EI 48 × 2.0 × 10 × 4.9 × 10
11 10

g 9.81
Critical speed wc = = = 97 r/s
δ 1.04 × 10− 3

2π 250
Angular speed of shaft w = = 26.18 r/s
60
C C 50
Damping factor δ = = = = 0.064
Cc 2m wc 2 × 4 97

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Static and Dynamic 2
Force Analysis and ⎛ ω ⎞
e⎜ ⎟
Mechanical Vibration
∴ X = ⎝ ωn ⎠
2
⎧⎪ ⎛ ω ⎞ 2 ⎪⎫ ⎛ ω ⎞
2

⎨1 − ⎜ ⎟ ⎬ + ⎜ 2ζ ⎟
⎪⎩ ⎝ ωn ⎠ ⎭⎪ ⎝ ωn ⎠

2
⎛ 26.18 ⎞
0.002 × ⎜ ⎟
= ⎝ 97 ⎠
2
⎧⎪ ⎛ 26.18 ⎞ 2 ⎫⎪ ⎛ 26.18 ⎞
2
⎨ ⎜
1 − ⎟ ⎬ + ⎜ 2 × 0.064 × ⎟
⎪⎩ ⎝ 97 ⎠ ⎪⎭ ⎝ 97 ⎠

= 0.8596 + 0.0012

1.457 × 10− 4
= = 1.57 × 10− 4 m
0.928
The dynamic load on the bearings

= (Spring force) 2 + (Damping force) 2

Spring force Fs = ωc2 m X = (97) 2 × 4 × 1.57 × 10− 4 = 5.9 N

Damping force Fd = c ω X = (50 × 26.18) × 1.57 = 0.2 N

∴ Dynamic load on bearings = 5.92 + (0.2) 2 = 5.9 N

Deal load on the shaft = 4 × 9.81 = 39.24
∴ Maximum load on the shaft = 39.24 + 5.9 = 45.14 N
M Fl d 1
Maximum stress σmax = y= × ×
I 4 2 I
45.14 × 0.5 1 × 10− 2 1
= × ×
4 2 4.9 × 10−10

= 5.75 × 10− 9 N/m 2

Power required will depend on the magnitude of torque which will be given by
damping force.
T = cω X × X = cω X 2

= 50 × 26.18 (1.57 × 10 − 4 ) 2

= 3.23 × 10− 5 Nm

2π N T 2π × 250 × 3.23 × 10− 5

∴ Power P = =
60 60
= 8.45 × 10− 4 Watt .

8.5 SUMMARY
The mechanical systems vibrate when they are subjected to an harmonic excitation. The
general analysis of the vibration can be done and the displacement of the mass consists of
two parts complementary function and particular integral. The complementary function is
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also called the transient solution and it represents the initial transient vibration of the Single Degree of
mass. It decays within first few cycles. The particular integral is also called as steady Freedom System :
Forced Vibration
state solution represents the vibration which is due to the exciting force. In initial stages
both are superimposed and sometimes, they may result in very high amplitudes but it is
for very few cycles. After few initial cycles transient vibration dies down and only steady
occurs for very large number of cycles it may result in fatigue failure and because of this
reason it is of particular importance.
The machines having rotating/reciprocating parts consists of rotating force vector due to
unbalance which excites the system continuously. The frequency response of this system
indicates that amplitude is very high in the neighbourhood of the resonance. This
behaviouir is similar to the behaviour of forced vibration of spring mass system excited
continuously by a harmonic force.
The shafts which support a disc or any other inertia tend to whirl when shaft rotates.
When whirling speed is equal to the spinning speed of the shaft, it is called synchronous
whirl when they are different, it is called non-synchronous whirl.
Some more topics concerning transmission of vibration you will learn in the next unit.

8.6 KEY WORDS

Dynamic Magnifier : It is function of frequency ratio.
Forced Vibration : When the system is continuously excited by an
external force or internally developed force, the
vibrations are called forced vibration.
Whirling of Shaft : When a shaft carrying an inertia rotates, the entire
shaft system rotates about an axis passing through
bearing centers. This rotation is called whirling of
shaft.
Synchronous Whirl : When angular speed of rotation of the shaft is
equal to the whirling speed and in the same sense
it is case of synchronous whirl.
Non-synchronous Whirl : When angular speed of the shaft is not equal to the
whirling speed, it is called non-synchronous whirl.

8.7 ANSWERS TO SAQs

Please refer the preceding text for all the Answers to SAQs.

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