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Mechanical Vibrations
Instructor : Engr. Izhar
Mechanical Engineering Department, CECOS
University
3
Free/Natural vibrations
Natural frequency
Or
Undamped natural
frequency
k
n
m
4
Free/Natural vibrations
How ?
k
n
m
5
Free/Natural vibrations
Equation of motion
mx kx 0
Response of the system
x A sin n t
x An cos n t x An2 sin n t
mA sin n t kA sin n t 0
2
n
k
n
m 6
Energy method
k
n
m
k
n
m
7
Vibration analysis
procedure
8
Free/Natural vibrations
Natural frequency
Or
Undamped natural
frequency
k
n
m
9
Free/Natural vibrations
How ?
k
n
m
10
Free/Natural vibrations
Equation of motion
mx kx 0
Response of the system
x A sin n t
x An cos n t x An2 sin n t
mA sin n t kA sin n t 0
2
n
k
n
m 11
Modeling
k
12
Modeling
Newtons law
k
mx F m
mx kx
k
mx kx 0 n
m
13
Modeling
Newtons law
I T
I kt
I kt 0
kt
n
I
14
Energy method
PE KE contant k
U T contant
m
d
U T 0
dt
15
Energy method
PE Strain energy
1
kx 2 k
2
1 m
KE mx 2
2 x
d
U T 0
dt
d 1 1 2
kx mx 0
2
dt 2 2 16
Energy method
d 1 1 2
kx mx 0
2
k
dt 2 2
m
kxx mx x 0
x
x kx mx 0
mx kx 0
17
Energy method
PE Strain energy
1
kt 2
2
1 2
KE I
2
d
U T 0
dt
d 1 1 2
kt I 0
2
dt 2 2 18
Energy method
d 1 1 2
kt I 0
2
dt 2 2
kt I 0
kt I 0
I kt 0
19
Class problem
Determine
1. Equation of motion
2. Natural frequency
20
Class problem
Newtons law
J o To
J o mgl sin
J o mgl sin 0
sin (for small )
J o mgl 0
21
Class problem
Newtons law
J o mgl 0
mgl
0
Jo
mgl
n
Jo
J o ml 2
n
g
l
22
Class problem
Energy method
23
Class problem
Energy method
24
Equation of motion
Newtons law k
mx F m
mx kx x
mx kx 0 k
n
m
x ( 0) x0
x ( 0) v0
25
Equation of motion
Newtons law k
mx F m
mx kx x
mx kx 0 k
n
m
x ( 0) x0
Initial
x ( 0) v0 conditions
26
Equation of motion
Newtons law k
mx F m
mx kx x
mx kx 0 k
n
m
x (0) x0 Initial displacement =
x (0) v0 x at t = 0
Initial velocity = v0
0
27
2nd Order Ordinary Differential Equation
with Constant Coefficients
mx kx 0
28
Periodic motion
31
Amplitude and Phase
from the initial conditions
32
Relationship between x, v, a
-
A
2
A
- 33
2A
Relationship between x, v, a
34
Relationship between x,
v, a
k
Equilibri
um
position
35
Harmonic motion
Newtons law
mx kx 0 k
m
Other forms of
solutions x
36
Harmonic motion
Newtons law
mx kx 0 k
m
Other forms of
solutions x
How ?
Check it
37
Harmonic motion
Newtons law
mx kx 0
38