Advanced

Mechanical
Vibrations

Rao V. Dukkipati

Alpha Science International Ltd.

Oxford, U.K.

Contents
Preface
Acknowledgements

vii
xi

1. Introduction
1.1
1.2
1.3
1.4

1.5

1.6
1.7
1.8

1.9

Introduction 1
Classification of Dynamic System Models 1
Constraints, Generalized Coordinates, and Degrees of Freedom
Classification of Vibrations 7
1.4.1 Free and Forced Vibrations 8
1.4.2 Linear and Non-linear Vibrations 8
1.4.3 Deterministic and Random Vibrations 8
Elementary Parts of Vibrating Systems 9
1.5.1 Examples of Vibrating Motion iO
1.5.2 Simple Harmonic Motion 10
1.5.3 Periodic Motion 16
Discrete and Continuous Systems 20
Vibration Analysis 27
Elements of Vibrating Systems 24
1.8.1 Spring Elements 25
1.8.2 Potential Energy of Linear Springs 29
1.8.3 Equivalent Springs 30
1.8.4 Mass or Inertia Elements 33
1.8.5 Damping Elements 54
Summary 38
Problems 39

2. Two Degree of Freedom Systems

2.1 Introduction 46
2.2 Equations of Motion for a Two-Degree-of Freedom System
2.3 Free Vibration of Undamped Systems 50
2.4 Torsional System 57
2.5 Coordinate Coupling and Principal-Coordinates 59
2.6 Damped Free Vibrations 64
2.7 Forced Vibration of Undamped Systems 67
2.8 Forced Vibration with Damping 71
2.9 Orthogonality Principle 74
2.10 Summary 76
Problems 76

46
48

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Contents

3. Multi-Degree-of-Freedom Systems
3.1
3.2
3.3
3.4
3.5
3.6
3.7

3.8
3.9

3.10

3.11

3.12
3.13

88

Introduction 88
Equations of Motion 89
Stiffness Influence Coefficients 93
Flexibility Influence Coefficients 95
Matrix Formulation 96
Inertia Influence Coefficients 97
Free Vibrations of Multi-Degree-of-Freedom Systems 98
3.7.1 Normal Mode Solution 98
3.7.2 Natural Frequencies and Mode Shapes 99
3.7.3 Mode Shape Orthogonality 104
Free Vibrations of Undamped Systems 111
Free Vibrations of Damped Systems 116
3.9.1 Proportional Damping 116
3.9.2 General Viscous Damping 119
Forced Vibrations of Multi-Degree of Freedom Systems 720
3.10.1 Harmonic Excitations 727
3.10.2 Laplace Transform Method 124
Modal Analysis for Undamped Systems and Systems with
Proportional Damping 727
3.11.1 Systems with Proportional Damping 729
3.11.2 General Damping 732
Numerical Solutions 136
Summary 737
Problems 737

4. Analytical Dynamics
4.1
4.2
4.3
4.4
4.5
4.6
4.7
4.8

4.9
4.10
4.11
4.12
4.13
4.14

Introduction 146
Degrees of Freedom 146
Generalized Coordinates 148
Constraints 149
Principle of Virtual Work 757
D'Alembert's Principle 757
Generalized Force 759

Lagrange's Equations of Motion 762

4.8.1 Holonomic Systems 762
4.8.2 Nonholonomic Systems 765
Rayleigh Dissipation Function 766
Impulsive Motion 768
Integrals of the Motion 770
{
Variational Principles 174
Hamilton's Principle 775
Summary 779
Problems 180

146

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5. Continuous Systems

xv
192

5.1
5.2
5.3
5.4
5.5

Introduction 792
Transverse Vibration of a String 792
Longitudinal Vibration of Rods 795
Torsional Vibration of Shafts 202
Transverse Vibration of Beams 205
5.5.1 Effects of the Rotary Inertia and Shear Deformation
5.5.2 Effect of Axial Force 275
5.6 Vibration of Membranes 218
5.7 Approximate Methods 223
5.7.1 Rayleigh's Method 223
5.7.2 Rayleigh-Ritz Method 226
5.8 Summary 229
Problems 229

270

6. Natural Frequencies and Mode Shapes

6.1 Introduction 237
6.2 Dunkerley's Equation 237
6.3 Rayleigh Method 241
6.4 Rayleigh-Ritz Method 246
6.5 Holzer Method 247
6.6 Jacobi Diagonalization Method 250
6.7 Cholesky Decomposition Method 253
6.7.1 Standard Eigenvalue Problem 253
6.8 Iteration Methods 255
6.8.1 Matrix Iteration Method 256
6.8.2 Inverse Iteration Method 256
6.8.3 Simultaneous Iteration Method 257
6.8.4 Subspace Iteration Method 258
6.9 Summary 263
Problems 264

237

7. Numerical Methods

274

7.1 Introduction 274

i
7.2 Single Degree of Freedom System 274
7.2.1 Finite Difference Method 274
7.2.2 Central Difference Method 276
7.2.3 Runge-Kutta Method 278
7.3 Multi Degree of Freedom System 281
1A Explicit Schemes 281
7.4.1 Central Difference Method 2'82
7.4.2 Two-Cycle Iteration with Trapezoidal Rule
7.4.3 Fourth Order Runge-Kutta Method 297

289

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7.5 Implicit Schemes 292
7.5.1 Houbolt Method 292
7.5.2 Wilson Theta Method 296
7.5.3 Newmark Beta Method 299
7.5.4 Park Stiffly Stable Method 303
7.6 Case Study 305
7.6.1 Linear Dynamic System 305
7.7 Summary 307
Problems 307

8. Finite Element Method

311

8.1
8.2
8.3
8.4
8.5
8.6

Introduction 372
Bar Element 314
Beam-element 376
Global Matrices 318
Transformation of Element Matrices and Vectors 322
Equations of Motion of the Complete System of Finite Elements
8.6.1 Incorporation of Boundary Conditions 325
8.7 Consistent and Lumped Mass Matrices 325
8.7.1 Lumped Mass Matrix for Bar and Beam Elements 326
8.8 Model Reduction 328
8.9 Summary 345
Problems 346

9. Nonlinear Vibrations
9.1
9.2
9.3
9.4

Introduction 350
Nonlinear Dynamic Systems 350
Exact Methods for Nonlinear Systems 357
Approximate Methods for Nonlinear Systems
9 A.I Iterative Method 354
9.4.2 Ritz Averaging Method 357
9 A3 Perturbation Method 360
9.4.4 Variation of Parameter Method 365
9.5 Graphical Method 366
,
9.5.1 Phase Plane Representation 366
9.5.2 Isocline Method 368
9.5.3 PeU's Method 370
9.6 Stability of Equilibrium 377
9.7 Multidegree of Freedom Systems 378
9.8 Summary 378
,
' Problems 379

324

350

354

Contents
10. Random Vibrations
10.1
10.2
10.3
10.4
10.5
10.6

10.7

10.8
10.9
10.10
10.11
10.12
10.13
10.14

Introduction 385
Random Vibrations 385
Probability Density Function 387
Autocorrelation Function 390
Gaussian Random Process 390
Fourier Analysis 397
10.6.1 Fourier Series 397
10.6.2 Fourier Integral 392
Response of a Single Degree of Freedom Vibrations System
10.7.1 Impulse Response Method 394
10.7.2 Frequency Response Method 396
Power Spectral Density Function 398
Joint Probability Density Function 399
Cross-Correlation Function 400
Application of gSDs to Vehicle Dynamics 400
Response of a SDOF System to a Random Input 407
Response of MDOF Systems to Random Inputs 403
Summary 406
Problems 406

Glossary of Terms
Glossary of Symbols
Answers to the Selected Problems
Bibliography
Index

xvii
385

394

411
424
426
452
462