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BITS Pilani

Dubai Campus
ChapLer-2. vlbraLlon analysls, sprlng
mass and damplng elemenLs ln a
vlbraLlng sysLem, 1ypes of damplng
Dr. Millerjothi, BITS Pilani, Dubai Campus
Modelling of vibrating systems natural
and undamped
Effect of damping on systems in vibration
Other types of damping and energy loss
Chapter 2
Dr. Millerjothi, BITS Pilani, Dubai Campus
!The basic vibration model of a simple oscillatory system
consists of a mass, a mass less spring, and a damper.
!The mass is measured in kilograms in the SI system &
!In the English system the mass is, m= w/g lb.s
2
/in
!The spring supporting the mass is of negligible mass.
!Its force-deflection relationship is considered to be linear,
following Hooke's law, F = kx, where k, the stiffness measured
in N/m or lb/in.
!The viscous damping, generally represented by a dashpot, is
described by a force proportional to the velocity, or f = c x.
!The damping coefficient c is measured in N/m/s or lb/in/s.
Vibration Model
Dr. Millerjothi, BITS Pilani, Dubai Campus
Consider a simple undamped spring-mass system shown below
with natural frequency f
n
.
Equation of Motion -
Natural Frequency
Dr. Millerjothi, BITS Pilani, Dubai Campus
The spring force is equal to gravitational force, w acting on mass m.

By Newtons second Law

But hence !!!!!1

Circular frequency is defined as

Therefore equation of motion is written as

Which has the general solution as x = A Sin !
n
t + B Cos !
n
t

where A & B are 2 constants found from initial conditions of
displacement and velocity.
) ( x k w f x m + ! " = # =
! !
kx x m ! =
! !
m
k
n
=
2
!
0
2
= + x x
n
!
! !
Dr. Millerjothi, BITS Pilani, Dubai Campus

This results in

Or

And the natural frequency is
t Cos x t Sin
x
x
n n
n
! !
!
) 0 (
) 0 (
+ =
!
! " # 2 =
n
k
m
! " 2 =
!
= = =
g
m
k
f
n
! ! " 2
1
2
1 1
Dr. Millerjothi, BITS Pilani, Dubai Campus
A 0.25kg mass is suspended by a spring having a stiffness of
0.1533 N/mm. Determine its natural frequency in cycles per
second. Determine its statical deflection.
Solution
The stiffness is k = 153.3 N/m
The natural frequency is

= 3.941 Hz

The statical deflection of the spring suspending the 0.25 kg mass
is obtained from the relationship mg = k"
Example 2.2.1
25 . 0
3 . 153
2
1
2
1
! !
= =
m
k
f
mm
k
mg
mm N
0 . 16
1533 . 0
81 . 9 25 . 0
/
=
!
= = "
Dr. Millerjothi, BITS Pilani, Dubai Campus
Determine the natural frequency of the mass M on the end of a
cantilever beam of negligible mass shown in Fig. 2.2.
Example 2.2.2
Dr. Millerjothi, BITS Pilani, Dubai Campus
The deflection of the cantilever be ever am under a concentrated
end force P is


Where EI is the flexural rigidity, thus the stiffness of the beam
is and the natural frequency of the system becomes
Solution
k
P
EI
Pl
x = =
3
3
3
3 l EI k =
3
3
2
1
Ml
EI
f
n
!
=
Dr. Millerjothi, BITS Pilani, Dubai Campus
Example 2.2.3
Dr. Millerjothi, BITS Pilani, Dubai Campus
12
13
14
13
16
17
18
19
20
21
22
46
47
48
49
30
31
32
33
34
33
39
60
Dr. Millerjothi, BITS Pilani, Dubai Campus
The following data are given for a vibrating system with
viscous damping: w = 10 lb, k =30 lb/in., and c = 0.12 lb/
in./s. Determine the logarithmic decrement and the ratio
of any two successive amplitudes.
Example
Dr. Millerjothi, BITS Pilani, Dubai Campus
The undamped natural frequency of the system in radians per
second is



The critical damping coefficient cc and damping factor # are
Solution
s rad
m
k
n
/ 0 . 34 10 / 386 30 = ! = = "
s
in
lb
m c
n c
/ 76 . 1 34
10
386
2 2 = ! ! = = "
0681 . 0
76 . 1
12 . 0
= = =
c
c
c
!
Dr. Millerjothi, BITS Pilani, Dubai Campus
The logarithmic decrement,




The amplitude of any two consecutive cycles is
429 . 0
0681 . 0 1
0681 . 0 2
1
2
2
2
=
!
"
=
!
=
#
$
#$
%
54 . 1
429 . 0
2
1
= = = e e
x
x
!
64
63
Dr. Millerjothi, BITS Pilani, Dubai Campus
Figure 2.3 shows a uniform bar pivoted about point o with springs
of equal stiffness k at each end. The bar is horizontal in the
equilibrium position with spring forces P
1
and P
2
Determine the
equation of motion and its natural frequency.
Example 2.2.4
Dr. Millerjothi, BITS Pilani, Dubai Campus
Under rotation, the spring force on the left is decreased while that
on the right is increased. With J
0
as the moment of inertia of the
bar about O, the moment equation about O is


However

in the equilibrium position, and hence we need to consider only the
moment of the forces due to displacement $, which is
! ! !
! !
O
J b kb P mgc a ka P MO = + " + " = # ) ( ) (
2 1
0
2 1
= ! + b P mgc a P
! !
! !
O
J kb ka MO = " " = # ) (
2 2
Dr. Millerjothi, BITS Pilani, Dubai Campus
Thus the equation of motion can be written as




And by inspection the natural frequency of oscillation is
0
) (
2 2
=
+
+ ! !
O
J
b a k
! !
O
n
J
b a k ) (
2 2
+
= !

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