Theory of Vibrations

Catalog data: mathematical analysis of physical problem in the vibration of mechanical system.
Topics include linear- free vibration, forced vibration, and damping in single degree of freedom system, transient vibration, critical speed and whirling of rotating shaft, dynamic balancing, and multidegree of freedom system with lumped parameters.
lecture-1 Lecture-1-
Theory of vibration with application
Assist. Lecture. ALI F. F. 2009-2010
Oscillatory motion Any motion that repeated itself an interval of time is called vibration or oscillation motion. The theory of vibration deals with the study of oscillatory motion of bodies and the forces associated with them. All bodies possessing mass and elasticity are capable vibration. Classification of vibration Free vibration: without external force acts on the system. The oscillation of a simple pendulum is an example of free vibration fig.1.
Textbook: W.T. Thomson, Theory of vibration with application, 5 ED., PRENTICE HALL, 2001
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Forced vibration: if a system is subjected to an external force, the resulting vibration is known as forced vibration such as diesel engines. Fig.2
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Degree of freedom : the minimum number of independent coordinate required to determine complete the position of all parts of a system at any instant of time defines degree of freedom of the system fig.3, 4, and 5.
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Resonance state : if the frequency of the external force coincide with one of the natural frequencies of the system, a condition known as resonance accrues. And dangerously large oscillations may result. Undammed and damped vibration : if no energy is lost or dissipated in friction or other resistance during oscillation, the vibration is known as undammed vibration fig.6. If any energy is lost in this way, on the other hand, it is called damping vibration fig.7.
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1.1 harmonic motion: if the motion is repeated after equal intervals of time () period, it is called periodic motion. The simplest type of

periodic motion is harmonic motion, and the reciprocal = is called the frequency measured in cycles per second (hertz-HZ.) It can be demo started by a mass suspended from a light spring, as shown in fig.(8). If the mass displaced from its rest position and released, it will oscillate up and down.
Harmonic motion is often represented as the projection on a straight line of a point that is moving on a circle at constant speed, as shown in fig.(9)
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From fig.9: = =


=

(1) (2)
Where are the period and frequency of the harmonic motion in secand and cycles per second (Hz), respectively. The velocity and acceleration of harmonic motion are fig. 10: () =

. = (, , , , . ) The motion repeats itself in We have the relationship: = =

() = Where:
= =
(3)
() =
() = = ( + ) Hint: examination of Esq. (2) and (5): () = ()
= = +

(4)
(5)
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lecture2
Any vector in the xy plane can be represented as a complex number [Eulers eq.]: Exponential form and complex algebra. = ( + ) = , fig.11 =
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= +
= +

(6) ()
. = Results : / / ;

= = = (+)

= +
(8)
, . = ;
1.2 periodic motion (Fourier series): If () is a periodic function with period , its Fourier series representation is given by: (9) () = + ( + ) =

= ()
= ; / =
we multiply Eq.(9) by To determine the , and integrate over the one period . we obtain
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: The fundamental frequency
( , , , . . , , , ) Are constant coefficients.
; =
; .

0 =
2 () cos 1
2 2
2 ()
2
2 () sin 1
2
Properties of oscillatory motion: The simplest of these are the peak value, average value and the mean square value: peak value: indicates the maximum stress thus the vibration part is undergoing Average value: indicates a steady or static value, somewhat like the D.C. level of an electrical current. It can be found by the time integral.
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= lim ()
0
For example, see fig.12 the average value, for a complete cycle of sin wave, , is zero.
X(t)
A 2A/PI Fig.12 wt
Whereas, its average value for a half cycle is: = lim

/2 0
= lim
1 sin = 0 1 sin
0
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[ ] = [ + ] = =

The mean square value: The M.S.V. of a time function x(t) is found from the average of the squared values integrated over some time interval : If () = sin , its mean square value is:

2 = lim 2 ()
0
Hint: the root mean square (rms) value is the square root of the mean square value. From the previous example the rms of the sin wave of amplitude A is (/2) = 0.707.
= ( ) =
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Decibel : (dB)
The decibel is a unit of measurement that is frequently used in vibration measurements FIG.13. It is defined in terms of a power ratio: = [] ()
= =
dB
Fig.13
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Octave:
When the upper limit of a frequency range is twice its lower limit the frequency span is said to be a octave fig.15. For example Frequency Hz. 10-20 20-40 40-80
40
Band wide 10 20 40
20
10
5 10 Fig. 15 20
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Theory of Vibrations

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Catalog data: mathematical analysis of physical problem in the vibration of mechanical system.

Theory of vibration with application

Assist. Lecture. ALI F. F. 2009-2010

Theory of vibration with application

Assist. Lecture. ALI F. F. 2009-2010

Theory of vibration with application

Assist. Lecture. ALI F. F. 2009-2010

Theory of vibration with application

Assist. Lecture. ALI F. F. 2009-2010

Theory of vibration with application

Assist. Lecture. ALI F. F. 2009-2010

Theory of vibration with application

Assist. Lecture. ALI F. F. 2009-2010

. = (, , , , . ) The motion repeats itself in We have the relationship: = =

() = = ( + ) Hint: examination of Esq. (2) and (5): () = ()

Theory of vibration with application

Assist. Lecture. ALI F. F. 2009-2010

Theory of vibration with application

Assist. Lecture. ALI F. F. 2009-2010

: The fundamental frequency

( , , , . . , , , ) Are constant coefficients.

Theory of vibration with application

Assist. Lecture. ALI F. F. 2009-2010

Theory of vibration with application

Assist. Lecture. ALI F. F. 2009-2010

Whereas, its average value for a half cycle is: = lim

Theory of vibration with application

Assist. Lecture. ALI F. F. 2009-2010

Theory of vibration with application

Assist. Lecture. ALI F. F. 2009-2010

Theory of vibration with application

Assist. Lecture. ALI F. F. 2009-2010

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