by

Dr. Abhijit Chaudhuri

Dept. of Applied Mechanics
IIT Madras, Chennai, India

VIBRATION
mg

F x = mx

N
F = k ( ystatic + y )

mg

man

mg

m
x + kx = 0

F y = my

kystatic = W

m
x

F = kx

my + ky = 0

my

mat

Ft = mat
ml + mg sin ( ) = 0
g
+ 0 for << 1
l

by Dr. Abhijit Chaudhuri

Dept. of Applied Mechanics
IIT Madras, Chennai, India

1. General equation of motion for undamped free vibration:

m
x + kx = 0

----------x is the generalized displacement of CG from static equilibrium position.

It can be linear or angular displacement.
----------Eq. (1) is rewritten as x + n2 x = 0

(1)
(2)

n is called natural frequency. Unit is rad/s.

E.g. for spring mass system, n =

k
m

for pendulum with small displacement, n =

g

l

If a system is left with an initial disturbance displacement or subjected to an

impulse causing a velocity, it will oscillate with its natural frequency n .
Cycle per second, f n =

n
2

Time period i.e. the time taken to complete one cycle, t p =

1
fn

2
n

The solution of the homogenous linear 2nd order ordinary differential equation:

x (t ) = A cos (n t ) + B sin (nt )

()

The constants A and B are determined from the initial conditions x ( 0 ) = x0 and x 0 = v0

A = x0 and B = v0 / n

by Dr. Abhijit Chaudhuri

Dept. of Applied Mechanics
IIT Madras, Chennai, India

The two fixed counter-rotating pulleys are

driven at the same angular speed 0 . A round
bar is placed off center on the pulley as
shown. Determine the natural frequency of the
resulting bar motion. The coefficient of kinetic
friction between the bar and pulley is k .

ma x

Kinetic diagram

Free body diagram

Here the rod is slipping over the pulley and subjected to kinetic friction force. The directions of
frictional forces dont change but magnitudes change depending on the position. When
x > 0 , NB > NA . Hence the resultant frictional force ( k NA k NB ) acts along negative
direction. Thus the frictional force behaves as a restoring spring force to cause oscillation.

Equation of motions: Fx =ma x k ( N A N B ) = mx

Fy =0 NA + NB + mg = 0
a

M
=
0

aN
+
A
B + x mg = 0
2

2 k g
2 k g

=
x=0
n
a
a

1 x
N A = mg ,
2 a
1 x
N B = + mg
2 a

s1

by Dr. Abhijit Chaudhuri

Dept. of Applied Mechanics
IIT Madras, Chennai, India

s2
y

Calculate the natural frequency n of the

system shown in the figure. The mass and
friction of the pulleys are negligible.

Since the total length of the rope is fixed, the

kinematic constraint is, s 1 + 2s2 = constant

s 1 + 2s2 = 0 -----Hence s + 2 s = 0 and

1
2
Let both x and y are measured from the static equilibrium. So x = s1; y = s2
and
x = s1; y = s2
-----mg

Block 1

k ( x + st )

Free body diagram N

Block 2

ma1

Kinetic diagram

(1)

(2)

Equation of motions: Fx = ma1

k ( x + st ) + T mg sin ( ) = ma1
------

(3)

2T

ma2

mg

Equation of motions:

Fy = ma2

2T mg = ma2

------

(4)

by Dr. Abhijit Chaudhuri

Dept. of Applied Mechanics
IIT Madras, Chennai, India

Eliminating T from Eqs. (3) and (4)

k ( x + st ) +

m ( g + a2 )
2

mg sin ( ) = ma1

------

(5)

By taking x = 0, a1 = 0, a2 = 0 from Eq. (5) we can write the static equilibrium equation:

k ( st ) +

mg
mg sin ( ) = 0
2

------

(6)

------

(7)

------

(8)

------

(9)

Eq. (5) - Eq. (6) is the equation for vibration of the system:

ma2
kx + ma1
=0
2
s

x
From Eq. (1) and (2) we get, a1 =
x,a2 = y = s2 = 1 =
2
2
5m
x
From Eq. (7) and (8): kx +
=0
4

4k
Hence the natural frequency of the system is
n =
5m

by Dr. Abhijit Chaudhuri

Dept. of Applied Mechanics
IIT Madras, Chennai, India

A 3 kg piece of stone is dropped 2 m onto the initially stationary

28 kg block, which is supported by four springs, each of which
has a constant k = 800 N/m. Determine the displacement x as a
function of time during the resulting vibration, where x is
measured from the initial position of the block as shown.

Velocity of the stone when it hits the block: vs = 2 gh = 6.26 m/s

For the plastic impact, the velocity
of the block and stone together: v0 =

ms vs
= 0.606 m/s
( mb + ms )

The deformation of the spring before the impact is due to the weight of the block,

st ,1 =

mb g
= 8.58e-2 m
4k

After impact at the static equilibrium, the deformation of the spring is calculated as

st ,2 =

( mb + ms ) g
4k

= 9.50e-2 m

If x is measured from the static equilibrium of the combined system,

) (

x = x + st ,2 st ,1 = x + 9.20e-3 m
Thus the initial conditions are x0 = 9.20e-3 m and v0 = 0.606 m/s

The solution of free vibration equation: x (t ) = A cos (n t ) + B sin (nt )

Vibration of a rigid body

by Dr. Abhijit Chaudhuri

Dept. of Applied Mechanics
IIT Madras, Chennai, India

Ry
2b

b sin ( )

man

Rx

2b

mg

From kinematic condition:

= and at = b = b

mat

Free body diagram

M O =I + bmat

Equation of motions:

mb2
For uniform square plate I =
3
2
4b
Eq (1) becomes:
+ gbsin ( ) = 0
3
3g
For small angle , + = 0
4b

()

Kinetic diagram

mgbsin = I + b2m

------

(1)

by Dr. Abhijit Chaudhuri

Dept. of Applied Mechanics
IIT Madras, Chennai, India

The uniform solid cylinder of mass m and radius r

rolls without slipping during its oscillation on the
circular surface of radius R. If the motion is
confined to small amplitudes = 0 , determine the
period of the oscillations. Also determine the
angular velocity of the cylinder as it crosses the
vertical centerline.

mg
F

A
Free body diagram

man

s = R = r ( + )
Rr
=

From kinematic condition:

mat

Kinetic diagram

Angular acceleration of the cylinder,

R r
= =

r
at = ( R r )

M A =I + rmat
1
R r
3
mgr sin ( ) = mr 2
m ( R r ) r = m ( R r ) r
2
r
2

Equation of motions:

For small angle , +

2g
2g
= 0 n =
3( R r )
3 Rr

by Dr. Abhijit Chaudhuri

Dept. of Applied Mechanics
IIT Madras, Chennai, India

2. General equation of motion for damped free vibration:

m
x + cx + kx = 0

cx correspond to viscous damping, where the damping force is

-----------

(1)

-----------

(2)

-----------

(3)

proportional to velocity.

Eq. (1) is rewritten as x + 2 n x + n x = 0

2 km

is a dimensionless number and called damping ratio.

t
Let us assume the solution of Eq. (2): x (t ) = Ae
Substituting Eq. (3) in Eq. (2): A

2 + 2n + n2 et = 0

Since A 0 and et 0 we get 2 + 2n + n2 = 0

-----------

(4)

1,2 = n 2 1

When > 1 , the system is called over-damped. Both 1 and 2 are distinct,
x (t ) = Ae1t + Be2t
real and negative.
When = 1, the system is called critically-damped. Both 1 and 2 are equal,
real and negative.
x (t ) = ( A + Bt ) et
When < 1, the system is called under-damped. Both
and complex.
x (t ) = Ae1t + Be2t

1 and 2 are distinct

x + cx + kx = 0 I.C. x0 = 1 m and v0 = 0
Example of damped system: m
Lets take m = 1 kg and k = 9 N/m . So n = 3 rad/s
1. c = 15 Ns/m

c
2 km

= 2.5 > 1

Thus it is an over-damped system.

x (t ) = 0.0455e14.374t + 1.046e0.626t
2. c = 6 Ns/m

c
2 km

=1

Thus it is a critically-damped system.

3t

x (t ) = (1 + 3t ) e

3. c = 0.6 Ns/m =

c
2 km

= 0.1 < 1

Thus it is an under-damped system.

x (t ) = e0.3t ( cos ( 2.985t ) + 0.1sin ( 2.985t ))

Damped natural frequency

d = n 1 2 = 2.985 rad/s

by Dr. Abhijit Chaudhuri

Dept. of Applied Mechanics
IIT Madras, Chennai, India

by Dr. Abhijit Chaudhuri

Dept. of Applied Mechanics
IIT Madras, Chennai, India

3. General equation of motion for forced vibration:

()

m
x + cx + kx = f t

F (t ) corresponds to external force or excitation.

f (t )
2
Eq. (1) is rewritten as
x + 2 n x + n x =
m
Lets consider harmonic excitation: f (t ) = f1 cos (t ) + f 2 sin (t )

-----------

(1)

-----------

(2)

-----------

(3)

For this case the particular integral of the solution of Eq. (2) is of the following form:

x (t ) = X1 cos (t ) + X 2 sin (t )

()

( )

( )

-----------

()

( )

(4)

( )

x t = 2 X 1 cos t 2 X 2 sin t
Hence, x t = X 1 sin t + X 2 cos t and
----------- (5)
After substituting Eqs. (3)-(5) in Eq. (1) and then equating the coefficients of cos (t )
and sin (t ) we get,

X1 n 2 2 + 2 X 2n = f1 and X 2 n2 2 2 X1n = f 2

Solving Eq. (6) we get,

1
X1 =
k

f1 1 ( n )

1 ( n )

2 2

-----------

2 f 2 n

+ ( 2 n )

and

1
X2 =
k

f 2 1 ( n )

1 ( n )

2 2

)+2f
1

+ ( 2 n )

(6)

The general solution of Eq. (2) can be written in different form

by Dr. Abhijit Chaudhuri

Dept. of Applied Mechanics
IIT Madras, Chennai, India

x (t ) = ent ( A cos (d t ) + B sin (d t )) + X1 cos (t ) + X 2 sin (t ) ----------- (7a)

f1
f2
sin (d t + ) + M cos (t ) + M sin (t ) ----------or x ( t ) = Ce
k
k
f
or x ( t ) = Cent sin (d t + ) + M sin t + f
----------k
nt

where M =

(1 ( ) )
n

2 2

; = tan
+ ( 2 n )

2
n
1 ( )2
n

-----------

(7b)
(7c)

(8)

M is called magnification factor.

f =
+ f 2 ; f = tan ;
f2
From the initial conditions, C and are to determined by solving the Eqs. (9) and (10)
f12

1 f1

f
M sin + f = x0
k
f
x (0) = C d cos ( ) n sin ( ) +
M cos + f = v0
k

x ( 0 ) = C sin ( ) +

-----------

(9)

-----------

(10)


x + 2 n x + n2 x =

()

by Dr. Abhijit Chaudhuri

Dept. of Applied Mechanics
IIT Madras, Chennai, India

f t

m
n = 1 rad/s, = 0.1, m = 1 kg

x0
x0
x0
x0

= 0, v0 = 0
= 1, v0 = 0
= 0, v0 = 1
= 1, v0 = 1

f (t ) = sin ( 2t )

f (t ) = sin (t / 2 )

Steady state is independent of the initial conditions

by Dr. Abhijit Chaudhuri

Dept. of Applied Mechanics
IIT Madras, Chennai, India

Base excitation

xb

An instrument of mass m is mounted on a base by a spring

of stiffness k and dashpot of damping coefficient c. The base
is vibrating as xb = b sin (t ) .
x corresponds to the absolute motion of the instrument
In this case the deformation of the spring is x xb

Thus the spring force acting on the instruments:

k ( x xb )

(
m
x + cx + kx = cxb + kxb = f (t )

Similarly the damping force acting on the instrument: c

x xb

) (

Equation of motion: k x xb c x xb = m
x

-----------

Hence for harmonic base motion, f (t ) = kb sin (t ) + cb cos (t )

Rewriting Eq. (1) we get:

( )

( ))

x + 2 n x + n2 x = b n2 sin t + 2 n cos t = b n2 1+ 2 n

sin t + f
----------General solution of the damped forced vibration similar to Eq. (7c) in slide 13 :

(1)

(2)

) -----------

(3)

Thus the steady state amplitude of absolution motion, b 1 + ( 2 n ) M -----------

(4)

x (t ) = Cent sin (d t + ) + b 1 + ( 2 n ) M sin t + f

2

M is given in Eq. (8) in slide 13

xb

by Dr. Abhijit Chaudhuri

Dept. of Applied Mechanics
IIT Madras, Chennai, India

Base excitation

An instrument of mass m is mounted on a base by a spring

of stiffness k and dashpot of damping coefficient c. The base
is vibrating as xb = b sin (t ) .
z corresponds to the motion of the instrument relative to base

z +
xb
In this case the absolute acceleration of instrument:
Thus the spring force acting on the instruments:

Equation of motion: kz cz = m
z +
xb

()

mz + cz + kz = m
xb = f t

-----------

(5)

Hence for harmonic base motion, f (t ) = mb 2 sin (t )

( )

2
2
Rewriting Eq. (1) we get: z + 2 n z + n z = b sin t

-----------

(6)

General solution of the damped forced vibration similar to Eq. (7c) in slide 13 :

z ( t ) = Cent sin (d t + ) + b ( n ) M sin (t )

2

Thus the steady state amplitude of relative motion, b ( n ) M

From Eqs. (4) and (8) we can write magnification factors:

( xs )max
b

= 1 + ( 2 n ) M and

( zs )max
b

= ( n ) M

-----------

(7)

-----------

(8)

by Dr. Abhijit Chaudhuri

Dept. of Applied Mechanics
IIT Madras, Chennai, India

( )

x + n2 x = F sin t
Governing equation motion for the undamped system:
Here is the frequency of the harmonic excitation
4k
= 25.9 rad/s
m
1
For undamped system the magnification factor is M =
2
1 ( n )
The natural frequency of the system
n =

The allowable amplitude of the vibration of the instrument is 0.15 mm due to

vertical vibration of the base with amplitude of 0.1 mm.
Hence the allowable value of magnification factor, M = 0.15/0.1 = 1.5

0.577n < < 1.291n