UNIT I

FUNDAMENTALS OF VIBRATIONS
&
FREE VIBRATIONS OF SDOF
LECTURE BY
R B KARTHIK AAMANCHI
DEPARTMENT OF AERONAUTICAL ENGINEERING

GITAM UNIVERSITY

INNARDS (PART I)
1. History

2 Hours

2. Importance

1 Hour

3. Fundas

2 Hours

4. Classification

1 Hour

5. Analysis Procedures

3 Hours

6. Spring Elements

2 Hours

7. Inertia and damping Elements

2 Hours

8. Harmonic Analysis

2 Hours

INNARDS (PART II)

1. Free Vibration Undamped (Translational)

2 Hours

2. Free Vibration Undamped (Torsional)

2 Hours

3. Stability Conditions

1 Hour

4. Raleighs Energy Method

2 Hours

5. Free Vibration with Viscous Damping

2 Hours

6. Free Vibration with Coulomb damping

2 Hours

7. Free Vibration with Hysteretic damping

2 Hours

HISTORY OF VIBRATIONS
Strings (Music)
1.
2.
3.
4.

Indian Mythology
Egypt (Nanga)
Pythagoras
Aristotle, Aristoxenus and
Euclid
5. Vitruvius (Acoustics
Properties of Theatre)

HISTORY OF VIBRATIONS
Worlds First seismograph
developed in China during 132
AD.
Zhang Heng is that place.

HISTORY OF VIBRATIONS
Laws of Vibrating String

Galileo Simple pendulum, resonance

Mersenne father of acoustics
Hooke Relation between pitch and frequency
Sauveur Modes shapes and nodes, harmonics

IMPORTANCE OF VIBRATIONS

Aloha Airlines Flight 243

Eschede Train disaster

TERMINOLOGY USED
AMPLITUDE: Maximum displacement of an TIME PERIOD: The smallest interval of time in
oscillation from an equilibrium (zero level)
which a system undergoing oscillation returns to
position.
the state it was in at a time arbitrarily chosen as
the beginning of the oscillation.
FREQUENCY: is the number of occurrences of a
repeating event per unit time.

DOF: The minimum number of coordinates

required to determine completely the positions
of all parts of a system at any instant of time.

TYPES OF SYSTEMS
Discrete and Continuous Systems:

Finite DOF Discrete or Lumped parameters

Infinite DOF Continuous or distributed Systems

CLASSIFICATION OF VIBRATIONS

Free Vibrations: After an initial disturbance, system is left on its own.

Forced Vibrations: Subjected to external force.
Undamped systems: If no energy is lost or dissipated from the system.
Damped Systems: If energy is lost due to friction or other resistance.
Linear Vibrations: System behaves linearly.
Non- Linear Vibrations: System behaves non-linearly.
Deterministic Vibration: The magnitude of excitation is known at any given of time.
Random Vibrations: The magnitude cannot be determined or is random at any time.

VIBRATION ANALYSIS PROCEDURE

Mathematical Modelling
Derivation of governing equations
Solution of the governing equations
Interpretation of Results

SPRING ELEMENTS
Linear Springs

F = KX

Non - Linear Springs

LINEARIZATION OF NON-LINEAR SYSTEM

Let an initial force F be acting on the system which underwent deflection X. But after yield point, nonlinearity comes into picture. But it is approximated as linearization process. Hence let this deflection be X*
Let incremental force F is added to F, producing X deflection.
F + F = F(X* + X)
Using Taylors series expansion

 Problem 1:
A milling machine weighing 1000 kgs is supported on a rubber mount. The deflection The force deflection is
given by

F = 2000 X* + 200(X*)3 . Determine the equivalent linearized spring constant of the rubber mount at its static
equilibrium position.
Problem 2
Show that the stiffness for a bar element is given AE/L
Problem 3
Determine stiffness for cantilever with end loading as shown in Fig 1. The mass acting is 30 kg while the
length of the beam being 5 mt with cross sectional area of 10 mm2 . The beam is made up of MS.

Fig 1: Cantilever with end loading

COMBINATION OF SPRINGS

Springs in Parallel

Springs in Series

Prob 4: Determine the equivalent torsional

spring constant of the propeller shaft

CLUE:
Use Polar Moment of Inertia, Shear Modulus

Prob 5: Find out the equivalent spring

constant for the system.

CLUE:
K for cantilever
K for wire

Prob 6. Find the equivalent spring constant

for the system shown.

INERTIA & DAMPING ELEMENTS

Mass or Inertia Elements are those which lose/gain kinetic energy whenever there is a velocity change. These are assumed
to be rigid bodies.
Damping: The mechanism by which the vibrational energy is gradually converted into heat or sound.
VISCOUS Damping: If the vibration system is in fluid medium such as Air, Water, Oil or Gas.
Coulomb or Dry Friction Damping: The damping force is constant in magnitude but opposite in direction of vibration
system.

Material or solid or hysteretic Damping: When a body is deformed, energy is absorbed or dissipated. This effect is due to
internal friction between planes. When this happens, the stress-strain diagram shows hysteresis loop.

Prob 7 :
Consider two plates separated by a distance of h with a fluid whose viscosity is . Derive an
expression for damping constant when one plate is moving with a velocity of V relative to
other.
Clue: Shear stress and shear force.