Republic of the Philippines

NORTHERN ILOILO STATE UNIVERSITY

Reg. No. 97Q19783
College of Engineering

MECHANICAL ENGINEERING DEPARTMENT

Estancia, Iloilo

LEARNING MODULE
of
VIBRATION ENGINEERING
(ME 316)

by
ENGR. JESHTER P. DE ASIS
 Title Basic Concepts of Vibrating System
Course Name Vibration Engineering
Course Code ME 316

Course Description This course deals with the fundamental concepts of vibration
as it affects operation and performance of machine
components. It covers the principles, analysis, and
applications of vibrations, equipping students with the
knowledge and skills necessary to understand, predict, and
control vibrational phenomena in engineering systems.

Number of Units for

Lecture -2 units
Lecture and Laboratory
Number of Contact Hours
Lecture -2 units
per week
Prerequisite Differential Equations (EM 211)
Professor Engr. Jeshter P. De Asis
Allotted Time 2 hours

Module 1, Lesson 1

Lecture and Discussions

Basic Concepts of Vibration

The oscillatory motion of an object about an equilibrium position or any motion that
repeats itself after an interval of time is called vibration or oscillation. The swinging of a
pendulum and the motion of a plucked string are typical examples of vibration. The theory of
vibration deals with the study of oscillatory motions of bodies and the forces associated with
them.
A vibratory system, in general, includes a means for storing potential energy (spring or
elasticity), a means for storing kinetic energy (mass or inertia), and a means by which energy is
gradually lost (damper). The vibration of a system involves the transfer of its potential energy to
kinetic energy and of kinetic energy to potential energy, alternately. If the system is damped,
some energy is dissipated in each cycle of vibration and must be replaced by an external source
if a state of steady vibration is to be maintained.
Vibrations are present in almost every mechanical system. They can be beneficial in some
cases (e.g., in musical instruments or sensors) but are often undesirable, leading to noise, wear,
fatigue, and failure of components.
Understanding and controlling vibrations is crucial for the design and operation of
mechanical systems to ensure safety, reliability, and longevity. Engineers must predict the
natural frequencies, control resonance, and manage the effects of damping.
Types of Vibrations

Free Vibrations: Occur when a system oscillates without external forces after an initial
disturbance. The system's natural frequency determines the rate of oscillation. Example: A mass
attached to a spring.

Forced Vibrations: Occur when a system is continuously driven by an external force. If the
frequency of the external force matches the natural frequency of the system, resonance occurs,
leading to large amplitude oscillations. Example: A building swaying due to wind or an
earthquake.

Classifications of vibrations: Based on the presence or absence of energy dissipation

in a mechanical system during oscillatory motion.

Damped vibrations occur in a mechanical system where there is a mechanism for energy
dissipation, such as friction, air resistance, or internal material damping. In a damped system, the
amplitude of oscillation decreases over time as energy is lost from the system.
- A car suspension system, where shock absorbers provide damping to smooth out road
vibrations.
- A swinging door with a hydraulic damper that slows the door's motion and prevents it
from slamming shut.

Undamped vibrations occur in a mechanical system when there is no mechanism for

energy dissipation. In such a system, once set into motion, the system continues to oscillate
indefinitely with a constant amplitude because there is no resistance to the motion.
- A frictionless pendulum or a mass-spring system oscillating in a vacuum (where there
is no air resistance or friction).

Classifications of vibrations: Based on the predictability of the vibration behavior in a

mechanical system.

Deterministic vibrations are vibrations in which the behavior of the system is completely
predictable and repeatable over time. The vibration response is governed by specific, well-
defined equations and inputs, allowing for precise prediction of the system's future behavior.
- A mass-spring-damper system subjected to a sinusoidal force.
- Vibrations of a beam under a harmonic load, where the response can be calculated
using the system's properties and the applied force.

Nondeterministic vibrations, also known as random vibrations, are vibrations where the
behavior of the system cannot be precisely predicted. The vibration response is influenced by
random or unpredictable factors, leading to variability in the system’s behavior over time.
- Vibrations caused by turbulent air or road surface roughness in a vehicle.
- Earthquake-induced vibrations in structures, where the input forces are random and
vary unpredictably.

. Figure 1.15 shows examples of deterministic and random excitations.

Different types of dynamic behaviors observed in mechanical systems when they
undergo oscillatory motion.

Linear vibration occurs when a system's response (such as displacement, velocity, or

acceleration) is directly proportional to the applied force. In other words, the relationship
between the input and output of the system is linear.

Nonlinear vibration occurs when the system's response is not directly proportional to the
applied force. The relationship between input and output is nonlinear, meaning that small
changes in the input can cause disproportionately large or small changes in the output.

Vibration Analysis Procedure

The Vibration Analysis Procedure is a systematic approach used to understand and evaluate the
behavior of mechanical systems that experience vibrations. This procedure helps identify and
address issues related to vibration, such as potential faults, inefficiencies, or design
improvements.

1. Mathematical Modeling
Mathematical modeling involves creating a mathematical representation of the
physical system to analyze its vibratory behavior. This model represents the system's
dynamics using equations that capture its essential characteristics.
Steps:
 Identify System Components: Determine the key elements of the system, such as masses,
springs, dampers, or any other components that contribute to the vibration.
 Define Assumptions: Make simplifying assumptions to reduce complexity, such as
linearity, small displacements, or negligible damping.
 Construct the Model: Represent the system using a set of equations that describe the
physical behavior of its components. This could involve:
o Mass-Spring-Damper Systems: For systems with a mass, spring, and damper.
o Multi-Degree-of-Freedom Systems: For more complex systems with multiple
interacting components.
o Continuous Systems: For systems modeled as beams, plates, or other continuous
structures.

To illustrate the procedure of refinement used in mathematical modeling, consider the

forging hammer shown in Fig. 1.16(a). It consists of a frame, a falling weight known as the tup,
an anvil, and a foundation block. The anvil is a massive steel block on which material is forged
into desired shape by the repeated blows of the tup.
 The anvil is usually mounted on an elastic pad to reduce the transmission of vibration to the
foundation block and the frame [1.22]. For a first approximation, the frame, anvil, elastic pad,
foundation block, and soil are modeled as a single degree of freedom system as shown in Fig.
1.16(b). For a refined approximation, the weights of the frame and anvil and the foundation block
are represented separately with a two-degree-of-freedom model as shown in Fig. 1.16(c). Further
refinement of the model can be made by considering eccentric impacts of the tup, which cause
each of the masses shown in Fig. 1.16(c) to have both vertical and rocking (rotation) motions in
the plane of the paper.

2. Derivation of Governing Equations

Derivation of governing equations involves formulating the differential equations that
govern the motion of the system based on the mathematical model. These equations
describe how the system responds to various forces and interactions.
Steps:
 Apply Newton’s Laws or Lagrange’s Equations: Use fundamental principles to derive the
equations. For mechanical systems:
 o Newton’s Second Law: Where forces and accelerations are related.
o Lagrange’s Equations: For complex systems, use energy methods to derive
equations of motion.
 Formulate Differential Equations: Develop the equations that describe the system's
behavior.:
o Linear Differential Equations: For systems with linear restoring forces and
damping.
o Nonlinear Differential Equations: For systems with nonlinear characteristics.
 Include Boundary Conditions: Apply appropriate boundary conditions based on the
system’s constraints and environment.

3. Solution of the Governing Equations:

Solution of the governing equations involves finding the response of the system over
time based on the derived differential equations. This step provides insights into the system’s
behavior under different conditions.
Steps:
 Solve Analytically: For simple systems, use analytical methods to solve the differential
equations. Techniques include:
o Characteristic Equation: For linear systems with constant coefficients.
o Eigenvalue and Eigenvector Methods: For multi-degree-of-freedom systems.
 Use Numerical Methods: For complex systems or nonlinear equations, employ numerical
techniques such as:
o Finite Element Analysis (FEA): For complex geometries and boundary conditions.
o Numerical Integration: Such as Runge-Kutta methods for time-domain solutions.
 Obtain Response Functions: Determine the system's response, such as displacement,
velocity, and acceleration as functions of time or frequency.

4. Interpretation of the Results

Interpretation of the results involves analyzing the solutions obtained to understand
the system's behavior and performance. This step helps in diagnosing issues, making design
decisions, or validating theoretical models.
Steps:
 Analyze Frequency Response: Examine the system's natural frequencies, mode shapes,
and resonance characteristics.
 Assess Time-Domain Behavior: Evaluate how the system's displacement, velocity, and
acceleration change over time.
 Compare with Design Criteria: Ensure that the system’s response meets performance and
safety requirements.
 Identify Faults: Use the results to identify potential issues such as excessive vibrations,
resonance, or instability.
 Validate Model: Compare the results with experimental data or real-world observations to
validate the mathematical model.

Mathematical Model of a Motorcycle

Figure 1.17(a) shows a motorcycle with a rider. Develop a sequence of three mathematical
models of the system for investigating vibration in the vertical direction. Consider the elasticity of
the tires, elasticity and damping of the struts (in the vertical direction), masses of the wheels,
and elasticity, damping, and mass of the rider.
Solution: We start with the simplest model and refine it gradually. When the equivalent values
of the mass, stiffness, and damping of the system are used, we obtain a single-degree-of-
freedom model

of the motorcycle with a rider as indicated in Fig. 1.17(b). In this model, the equivalent stiffness
(keq) includes the stiffnesses of the tires, struts, and rider. The equivalent damping constant ( ceq)
includes the damping of the struts and the rider. The equivalent mass includes the masses of the
wheels, vehicle body, and the rider. This model can be refined by representing the masses of
wheels, elasticity of the tires, and elasticity and damping of the struts separately, as shown in
Fig. 1.17(c). In this model, the mass of the vehicle body ( mv) and the mass of the rider (mr) are
shown as a single mass, (mv + mr). When the elasticity (as spring constant kr) and damping (as
damping constant cr) of the rider are considered, the refined model shown in Fig. 1.17(d) can be
obtained.

Note that the models shown in Figs. 1.17(b) to (d) are not unique. For example, by
combining the spring constants of both tires, the masses of both wheels, and the spring and
damping constants of both struts as single quantities, the model shown in Fig. 1.17(e) can be
obtained instead of Fig. 1.17(c).
Reference

Rao, Singiresu S., Mechanical Vibrations, 5th Edition, Prentice Hall copyright 2011.

***End of Module 1, Lesson 1***