MDB 3093

Vibrations

Lab Report
Free & Force
Vibration

Lecturer

Group Members

N
o

Dr Joga & Dr Tamiru

Name

ID

Cour
se

Contact

Muhammad Hafiz Hadi Bin Sumardi

18906

ME

0193625582

Mohammad Qamarul Muaz Bin

Mohammad Zen

19177

ME

0176767941

Amir Syafiq Bin Mohd Asri

19244

ME

0194069873

Muhammad Nafif Bin Abd Rahman

19368

ME

0134563407

Muhammad Naqib Bin Mat Asri

19465

ME

0134412651

1.0 ABSTRACT
Fee iatios a e defied as osillatios aout a sstes
euiliiu positio that occur in the absence of an external excitation.
Examples of free vibrations are oscillations of a pendulum about a vertical
equilibrium position and a motion of a vehicle suspension system after the
vehicle encounters a pothole. The oscillations will eventually die out over
time.
Forced vibrations occur when work is being done on the system while
the vibrations/oscillations occur. Examples of free vibrations include a
motion caused by an unbalanced rotating component, a motion of
reciprocating pistons in engine
Damped and undamped vibration refer to two different types of
vibrations. The main difference between damped and undamped vibration
is that undamped vibration refers to vibrations where energy of the
vibrating object does not get dissipated to surroundings over time, whereas
damped vibration refers to vibrations where the vibrating object loses its
energy to the surroundings.
In undamped vibrations, no resistive force acts on the vibrating
object. As the object oscillates, the energy in the object is continuously
transformed from kinetic energy to potential energy and back again, and the
sum of kinetic and potential energy remains a constant value. In patie,
its eteel difult to fid udaped iatios. Fo istae, ee a
ojet vibrating in air would lose energy over time due to air resistance.
Under simple harmonic motion, the objet experiences a restoring force
towards the equilibrium point, and the size of this force is proportional to
displacement. If vibration is undamped, the object continues to oscillate
sinusoidal.
In damped vibrations, external resistive forces act on the vibrating
object. The object loses energy due to resistance and as a result, the
amplitude of vibrations decreases exponentially. the damping force to be
directly proportional to the speed of the object at the time.
We can make use of damping in situations where we do not want
something to vibrate. Cars consist of dampers that prevent the car from
bobbing up and down repeatedly every time it falls into a pothole. Dampers
are also found on bridges to prevent them from swaying due to wind. Tall
buildings also sometimes have dampers to ensure that the building does not
sway too uh ad topple duig eathuakes. O poe lies,
tokidge
dapess ae used to esue that the cables do not undergo large vibrations.

In undamped vibrations, the object oscillates freely without any

resistive force acting against its motion. While in damped vibrations, the
object experiences resistive forces. For undamped vibrations, =0 while for
damped vibrations, >0. There is another case when =1 and it is called critical
damping. Under this condition, the oscillating object returns to its equilibrium
position as soon as possible without completing any more oscillations. When <1 it is
called underdamping where object continues to oscillate, but with an ever- reducing
amplitude and when >1 it is called overdamping with very strong resistive
forces which object would not oscillate again, but the object is slowed
down so much, that it goes towards the equilibrium much more slowly
compared to an object that is critically damped
2.1 OBJECTIVE
There are several objectives have been made before the project is begin. It
is basically related with the assigned topic which is ceiling mounted patient
ambulating lift. These are the objective that have been discussed:

To compare the theoretical natural frequency for various constants and

lever arms with the values obtained by measurement.
To illustrate the effect of damping on the decay behavior

3.1 INTRUMENTATIOS

Figure 1: Cantilever beam machine

1) Frame
2) Beam oscillator
3) Fixed mount supported by ball
bearings
4) Helical spring
5) Adjustable viscous damper

6) Mechanical drum recorder/

plotter
7) Insert paper
8) Sensor vibration
9) Sensor supply unit

4.0 PROCEDURE
A. Free and Undamped Oscillation
1. The following combination are tested.
Experiment
1
2
3
4
5

Spring No.,
Constant, c in
N/mm
1,0.84
1,0.84
2,1.44
2,1.44
3,3.09

Lever arm, a in
mm
680
530
530
330
330

2. The spring as per table were fitted and lock nuts was used to secured it.
3. Horizontally aligned beam
Weight of the beam, m =
1.68 kg Length of the
beam, L = 730 mm
4. Stylus was inserted and recorder was started.
5. Beam was deflected by hand allowed it to come to rest.
6. Recorder was stopped.
7. Experiment was repeated with other springs and lever arms.
B. Free and Damped Oscillation
1. Spring 1, c=0.84 N/mm was mounted at a=650mm and lock nuts was
used to secured it.
2. Horizontally aligned beam.
3. The following combinations are tested.
Experiment
1
2
3
4.
5.
6.
7.
8.
9.

Lever arm, b in mm
130
330
530

Damper was fitted as per table above.

Stylus was inserted.
Recorder was started.
Beam was deflected by hand allowed it to come to rest.
Recorder was stopped.
Experiment was repeated with different damper setting and lever arms.

5.0 THEORY OF VIBRATION RESPONSE DUE TO UNBALACE IN THE

ROTOR
A. Free and Undamped Oscillation
Equation of motion
Setting up the equation of motion involves forming the equilibrium of the
moments about the pivot point O of the beam
=

= =

The spring force, Fc is the result of the deflection, x and spring constant, c. For
small angles, the
deflection can be formed from the torsion, and lever arm, a.
= =

The mass moment of inertia of the beam about the pivot point is
2
0 =

This
gives
the
equation
of
motion
in
the form
of the following homogeneous
differential equation
2
+ 2 =
The solution obtained takes the form of harmonic oscillation with natural
angular frequency and
natural frequency, f

0 = 2

=,2

The period is
=

2
It becomes apparent that the period natural frequency can easily be adjusted
by way of lever
arm, a of the spring.

B. Free and Damped Oscillation

Equation of motion
Setting up the equation of motion again involves forming the equilibrium of
the moments about the pivot point O of the beam. In this cases,
allowance is additionally made for velocity- proportional damper force Fd
with the lever arm, b.
=

= =

The damper force, Fd results from the velocity, and spring constant, d.
For small angles, the
velocity can be formed from the angular velocity and lever arm, b.
=
=

The gives the equation of motion in the form of the following homogeneous
differential equation
2

+ =
0
0

+
Or in more general terms with y=L as the path of the recorder
+ 02 +0 =
With D as degree of damping and 0 as natural angular frequency
2
, 2 = 2
=
0

00
0
The solution takes the form
of decaying
harmonic
oscillation with the
initial
deflection
y0
0
With
frequency

sin +

= 0 2
It becomes apparent that no further oscillation is possible with D>1.
The natural angular
frequency, approaches zero.

7.0 RESULTS & DISCUSSION

A. Free and Undamped Oscillation
Experim
ent
1
2
3
4
5

Lever
arm
undam
ped
680a,
530
530
330
330

spring
consta
nt
0.84
0.84
1.44
1.44
3.09

Natur
al
frequ
ency
1.1409
0.8892
1.1642
0.7249
1.0619

Ti
m
e
0.2
2
0.2
9
0.2
1
0.3
3
0.2
3

ftheo

fex

ry

1.79
21
1.39
67
1.82
88
1.13
87
1.66
80

4.
5
3.
5
4.
8
3.
0
4.
4

6.0

Frequency

5.0
4.0
3.0
Fexp
Ftheory

2.0
1.0
0.0
1

Experiment

Graph 1: Free and undamped oscillation

Based on data and graph tabulated, it can be concluded that in free and
undamped oscillation, natural frequency increases when spring constant and
lever arm increases. When spring constant increases, it causes the system to
goes up and down faster causing it to oscillate more. When the lever arm
has longer arm, the more it allows for the system to oscillate.
From the graph, it is shown that the discrepancies between the theory and
experiment value of frequency is quite big. The discrepancies might be
caused by random and systematic error. Random error is due to the
machine not working as well as it should be. To avoid this kind of error, it is
important to inspect the machine before being used.

B. Free and Damped Oscillation

Experim
ent

spring constant,
N/mm

1
2
3

0.84
0.84
0.84

Experim
ent
1
2
3

Momen
t of
Inertia
298424
298424
298424

Lever
arm
undamp
ed
a,
650

Lever
arm
damp
ed
b,
130

650
650

330
580

Natur
al
frequ
ency
1.0905262

Damp
ed
frequ
ency
1.0905170

55
1.0905262
55
1.0905262
55

89
1.0901432
77
1.0868805
9

Frequency

5.0
4.5
4.0
3.5
3.0
2.5
2.0
1.5
1.0
0.5
0.0

Degree of
damping, D
0.0041
0.0265
0.0817

Ti
m
e
0.2
5
0.2
2
0.2
5

ftheor

fex

1.640
355
1.640
355
1.640
355

4.
0
4.
5
4.
0

Fexp
Ftheory

Experiment

Graph 2: Free and damped oscillation

For the free and damped oscillation, when the degree of damping increases,
damped frequency decreases. This is because, when degree of damping
increases, the movement of the system is restricted, thus causing it to
oscillates less.
From the graph, it is shown that the discrepancies between the theory and
experiment value of frequency is quite big. The discrepancies might be
caused by random and systematic error. Random error is due to the
machine not working as well as it should be. To avoid this kind of error, it is
important to inspect the machine before being used.

8.0 CONCLUSION
By comparing free and undamped oscillation with free and damped
oscillation, it can be seen that oscillation in free and undamped is
continuous in comparison with free and damped oscillation. The damper act
as a stopper to the cantilever beam and the moving beam will eventually
stop.
The theoretical natural frequency for various constants and lever arms
are different with values obtained by measurement. The difference is due to
the error exist when conducting the experiment. All error has been explained
in previous section with suggestion method to improve the result of
experiment.
To conclude, the response and behavior of a system undergoing free
vibrations with and without damping is fully investigated. The theoretical
natural frequency for various constants and lever arms with the values
obtained by measurement is also compared. Lastly, the effect of damping
on the decay behavior can be clearly illustrated. So, it can be said that
damping is very useful and it should be incorporated in every designs.