MECHANICAL
ENGINEERING
ME 370
Vibration of Mechanical
Systems
Instructor: Dr. A. Scott Lewis ARL Science Park Building 814-865-0962
(Science Park Road)
E-Mail: asl103@psu.edu
Elements of Vibratory Systems
LECTURE 2 2
Lecture Content
• Modeling and Degrees of Freedom
• Damping
• Examples
• Potential and Kinetic Energy
3
Vibration Categories
One can roughly place the design of devices and
systems in which some aspect of vibrations is involved
into one of three categories.
Those that are used to control vibrations and put
them to beneficial use
Those whose oscillatory motions must be
prevented or minimized from impacting another
system or its environment
Those that must be able to withstand a vibratory
environment
4
Systems Designed to Vibrate
Conveyors
Paint mixers
Fire alarms
Loudspeakers
Vibratory (bowl) feeders
Electrodynamic vibration exciters
Massage chairs
Grinders
Vibration molding
5
Systems Designed to Minimize the Effects of Vibrations
Automobile suspension systems
Helicopters
Ship Silencing
Disk drives
Systems Designed to Withstand a Vibratory Environment
Earthquake resistant buildings
Vibration isolation tables to attenuate floor motion
Suspension bridges to withstand wind
6
Why Study Vibrations?
When a system operates in a vibratory environment, these
vibrations must be taken into account in the system’s design.
If this is not done, one may end up with systems that –
Experience catastrophic failure
Undergo excessive wear
Experience excessive displacements and stresses
Are hard to control
Produce unacceptable disturbances to the
surroundings: vibratory and acoustic
Waste energy
7
Modeling and Degrees of Freedom
The examples on the previous slide have many degrees of freedom and many
parts. We will start with one degree of freedom and work towards many.
Vibration: Any motion that repeats itself after an interval of time is called
vibration or oscillation
Discrete or Lumped Systems: Finite number of degrees of freedom (DOF)
Continuous or distributed: Infinite Number of DOF
DOF: Minimum number of independent coordinates required to completely determine
the positions of all the parts of a system at any instant in time
Free Vibration: No external force acts on the system. Give initial disturbance and let
system vibrate on its own
Forced Vibration: Subject to an external force
Can consider following cases:
1. Damped
2. Undamped (no energy is lost)
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3. Linear/nonlinear
4. Deterministic/Random
Single DOF Examples
How are these systems analyzed?
1)Modeling
- Represent important features of system
- Try to get enough details without being too complex
- Make refinements as needed
2) Derivation of Equations
- Dynamic principles (Newton’s second law)
- Energy methods
- Usually ode and pde
3) Solution of Equations
- Laplace transforms
- Fourier series (other numerical methods) 9
4) Interpret Results
-Engineering judgement
Damping
Mechanism by which vibrational energy is gradually converted into heat or sound.
Difficult to determine the causes of damping in practical systems
—Model several ways
Mechanism by which vibrational energy is gradually converted into heat or sound .
Difficult to determine the causes of damping in practical systems ⇒ Model several ways
Viscous Damping : Damping force is proportional to the velocity of the vibrating body
F = cx c is damping coefficient ( Ns / m)
Coulomb or dry friction damping : Damping force is constant in magnitude but opposite
in direction to that of the vibrating body
Material or solid or hysteretic damping : caused by deformation of materials
10
Will concentrate on viscous damping
Examples
Stiffness and Mass
Examples of Discrete Systems (single DOF)
Continuous (infinite number of DOF) 11
Static Experiments of a Spring Mass System
• From strength of
materials recall:
FBD:
nonlinear
A plot of force versus displacement: linear
12
experiment ⇒ fk = kx static deflection =
mg
k
Calculating the Equivalent Stiffness of
Parallel and Series Connections of Springs
13
Modeling and Degrees of Freedom
The figure below shows a human body and a restraint system at
the time of an automobile collision. Suggest a simple
mathematical model by considering the elasticity.
14
Model
Modeling and Degrees of Freedom
Consider masses of automobile body, engine, transmission and suspension,
Elasticity of the bumpers, radiator, sheet metal body, driveline, and engine mounts.
Suggest a simple mathematical model
15
Physical and Mathematical Model Example
Single DOF
Develop mathematical model
16
Modeling and Energy Methods
•Provides an alternative way to determine the equation of
motion, and an alternative way to calculate the natural frequency
of a system
•Useful if the forces or torques acting on the object or mechanical
part are difficult to determine
•Very useful for more complicated systems later (MDOF and
distributed mass systems)
17
Potential and Kinetic Energy
The potential energy of mechanical systems U is often stored in “springs”
(remember that for a spring F = kx)
x=0 x0
k
M
Mass Spring
The kinetic energy of mechanical systems T is due to the motion of the “mass” in the
system
18
Conservation of Energy
For a simple, conservative (i.e. no damper), mass spring system the energy
must be conserved (no energy is lost due to friction or energy dissipating non-
elastic members):
At two different times t1 and t2 the increase in potential energy must be equal to
a decrease in kinetic energy (or visa-versa).
19
More Model Examples
Discrete system or a lumped-parameter system
Only discrete elements are used to model a physical system
mass, stiffness, and damping
These three types of elements appear as parameters in the
governing equations of the system.
Distributed-parameter system or continuous system
No discrete elements are used to model the system. One or
more partial differential equations are used to model the
system. Equivalent to an infinite number of discrete
elements.
20
MEMS Device
Micro-mirror
21
M.-H. Kiang, et al., “Electrostatic Combdrive-Actuated Micromirrors for Laser-Beam Scanning and Positioning,” Journal of Microelectromechanical
Systems, 7(1) (March 1998) 27−37. Reprinted with permission.
Tall Civil Structures
fwind fwind
mdeck mdeck
kcant
kcant
JO
ksoil
O
Cantilever θ
beam
earthquake
mdeck 22
fwin
Photo by Cacophony at https://commons.wikimedia.org/wiki/File:SpaceNeedleQAClose.jpg
d and reprinted under Creative Commons Attribution 3.0.
Tower Cranes [Pendulums[
mobject
L
mobject
23
Section 2.5
Aircraft Wings
mengine flift
Tapered cantilever beam
mengine kfuselage
kwing
flift kwing
flift mengine
24
Photo by MilborneOne https://commons.wikimedia.org/wiki/File:B737-G-CELS-2289.jpg and reprinted under Creative Commons Attribution 3.0.
Drop Forges [Single Degree-of-Freedom]
fimpact
mforge
kisolation
fimpact
mforge
misolation
kisolation k’isolatio
Good Better
25
Photo by F. Broerhttps://commons.wikimedia.org/wiki/File:Drop_forging_Gesenkschmieden.jpg and reprinted under Creative Commons
Attribution 3.0.
Unbalanced Axial Fan [Single Degree-of-Freedom]
ksupport
mmotor+fa
mfan unbalance
n
4ksupport
Motor
26
Reprinted with permission of Nuaire. Note: The image of the fan is a representation of a typical axial fan and is not meant to imply that
this manufacturer’s fan is out of balance.
Motorcycle [Two Degrees-of-Freedom]
c.g.
ktire ktire
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Photo Courtesy Vincent Nguyen
