Kingdom of Saudi Arabia

General Organization for Technical

Education and Vocational Training
College of Technology - Riyadh
Mechanical Engineering Department
Automotive Engineering

MECHANICAL VIBRATION

Dr. Mohamed FATTAL

1424- 1425

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 CHAPTER I

Basic concepts of vibration

1- Introduction

2- Classification of vibration
2-a- Forced and free vibration
2-b- Undamped and damped vibration
2-c- Linear and non linear vibration
2-d- Deterministic and random vibration

3- characteristics of harmonic motion

4- Elementary vibrating system

5- Degrees of freedom

6- Examples

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 1- Introduction :

Engineering systems possessing mass and elasticity are capable of relative motion. If
the motion of such system repeats itself after a given interval of time the motion is
called vibration or oscillation.
Vibration, in general , is a form of wasted energy and undesirable in many cases. This
is particularly true in machinery, for it generates noise, breaks down parts, and
transmits unwanted forces and movements to close by objects.

The motion may be of regular form and repeated continuously, or it may be irregular
or random nature. Vibrations are accompanied by, or are produced by, forces that vary
in an oscillatory manner.

2- Classification of Vibration:

Vibration can be classified as follows:

2-a- Forced and free vibration:

If a system is subjected to an external (often a repeating type of force). The resulting

vibration is known as forced vibration.

Example : The oscillation that arises in machine such as diesel engine is an example
of forced vibration.

Is the periodic motion observed as the system is displaced from its static equilibrium
position.
The force acting are :
- the spring force.- the friction force and the weight of the mass due to presence of
friction, the vibration will diminish with time, sometimes called transient.

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2-b- Undamped and damped vibration:

If no energy lost or dissipated in friction or other resistance during oscillation, the

vibration is known as undamped vibration.

If any energy is lost in this way, it is called damped vibration.

2-c- Linear and nonlinear vibration:

If all the basic components of a vibratory system: the spring, the mass and the damper
behave linearly, the resulting vibration is known as linear vibration.

If any of the basic components behave nonlinearly, the vibration is called nonlinear
vibration.

2-d- Deterministic and random vibration:

If the value of excitation (force or motion) acting on a vibratory system is known at

any given time, the excitation is called deterministic. The resulting vibrations is
known as deterministic vibration.

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If the excitation is non deterministic or random, the value of the excitation at a given
time cannot be predicted. examples of random excitations are:

- wind velocity
- road roughness
- ground motion during earthquakes.

The resulting vibration is called random vibration.

3- Characteristics of Harmonic motion:

If the motion is repeated after equal intervals time, it is called periodic motion. There
are two types of periodic motions: harmonic and no harmonic motion.

Harmonic motion as projection of a point on a circle.

Period τ:

The period is the time required for a periodic motion to repeat itself, or (The time for
one cycle is termed the period).

Frequency ƒ(Hz) Hertz:

The frequency is the number of cycles of motion occurring in unit time (cycles per
second).

Cycle:

One complete movement of any repeated motion is called a cycle.

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Natural frequency:

Is the frequency of the system having free vibration without friction.

Damped natural frequency:

Is the frequency of the system having free vibration and with friction.

Amplitude :

The maximum displacement of a vibrating body from its mean position is called the
amplitude of vibration.

Resonance:

When the natural frequency of vibration of machine or structure coincides with the
frequency of external excitation, the occurs a phenomenon know as Resonance.
(excessive vibration of components and system).

Example: Tocama Narrow bridge during wind included vibration 1/7/1940 -

7/11/1940.

4- Elementary parts of vibrating systems:

A vibrating system, in general includes a means for storing potential energy (spring or
elasticity), a means for storing kinetic energy (mass or inertia) and a means by which
energy is gradually lost (damper).
The vibration of system involves the transfer of its potential energy to kinetic energy
and kinetic energy to potential energy alternately.
If the system is damped, some energy is dissipated in each cycle of vibration and must
be replaced by an external source if a state of steady vibration is to be maintained.

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Spring Elements:

A linear spring is a type of Mechanical link which is generally assumed to have

negligible mass and damping. The spring force

F= K.x

Where: F : is the spring [N]

.x is the displacement of one end with respect to the other.[m]
K is the spring stiffness or spring constant [N/m]

Elastic element like beams also behave as spring.

Ex. Consider cantilever beam with an end mass m:

A, E,I ,L m

X(t)

Actual system

We assume, for simplicity, that the mass of the beam is negligible in comparison with
the mass (m). for strength of materials , we know the static deflection of the beam at
the free end is given by:

Where : W=m.g E : is young's modulus [N/m2]

I : moment of inertia [m4]

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 Combination of springs:

1- Springs in parallel :

In general : if we have n springs in parallel. Then the equivalent spring Keq:

Keq = k1 + k2 + k3 + …….kn.

2- Springs in series:

We consider two springs connected in series .

The total elongation is x = x1 + x2

F = Keq .x = k1.x = k2.x

If we have n spring :

Keq. X Keq. X
X1  ,X2 
K1 K2

Keq. X Keq. X 1 1 1
X     
K1 K2 Keq K1 K 2

K1.K 2
Keq 
k1  K 2
1 1 1 1
   ....... 
Keq K1 K 2 Kn

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Example 1.1:

Determine the equivalent stiffness of the system shown in figure 1,2 and 3.

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 Damping Elements:

A damper is assumed to have neither mass nor elasticity, and damping force exists
only if there is relative velocity between the two ends of the damper. The energy or
work input to a damper is converted into heat or sound, hence the damping element is
non conservative. The damping may be one or more of the following types:

1- Viscous damping:

Is the most commonly used damping mechanism in vibration analysis.

In viscous damping, the damping force is proportional to the velocity of the vibrating
body.

2- Coulomb or Dry friction damping:

Here the damping force is constant in magnitude but opposite in direction to that of
the motion of the vibrating body. It is caused by kinetic friction between two sliding
dry surfaces.

3- Material or solid or hysteric damping:

When materials are deformed, energy is absorbed and dissipated by the material. This
effect is due to friction between the internal planes which slip or slide as the
deformations take place.

Damping coefficient:

1- In series :

C1.C 2
Ceq 
C1  C 2

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2- In parallel

Ceq= C1 +C2

5- Degrees of freedom:

The number of degrees of freedom of an elastic system is the number of parameters

required to define its motion. A rigid body in space has six degrees of freedom, three
of translation and three of rotation. For example, in Figure (2 ) the motion of the mass
on a spring which is assumed to vibrate only a vertical line can be described with one
coordinate and thus possesses a single degree of freedom.

Figure 2

The system may have one of the three simple modes of free vibrations:

a- Longitudinal or axial vibrations, the external force is

applied axially
And the bar is alternately extended and compressed.

b- Transverse vibrations, the external force is applied

perpendicular to the
Longitudinal axis of the bar and it is laterally displaced.

c- Torsional vibrations, the axial twisting moments are

applied and the
Bar is alternately twisted and untwisted, etc..

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Two degrees of freedom:

Several degrees of freedom:

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 CHAPTER II

Free vibrations of single degree of freedom system:

II-1 Free vibration of an undamped system

II-1-a Equation of motion
II-1-b Logarithmic decrement
II-1-c Examples

II-2 Free vibration of an damped system

III-3 Harmonically Forced vibration

III-3-a Undamped system
III-3-b With damping
III-3-c Examples

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II-1 Free vibration of an undamped system:

Fig. 3 Shows a spring – mass system in which a mass, m, is suspended from an

infinite mass by a spring which k is the stiffness of the spring.

This is the simplest example of a one degree of freedom vibrating system. A single
coordinate x measuring the displacement of the mass relative to a reference point is
sufficient to specify the position of the system.

II-1-a Equation of motion : x. x' x''

Using 2nd Newton's law : kx

Σ F = m.a

F = - k.x = m.x” 

m.x" + k.x =0
where :
x : is displacement [m] k: is spring stiffness [N/m]
a or x": is acceleration [m/s2] m: is the mass [kg]

Spring-mass in vertical position (effect of gravitational force):

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Assuming that δst = w/k is the static deflection of the system under the gravity load
applied by the mass m or (the equilibrium position).

We draw the free boy diagram of the mass in figure.

Under equilibrium conditions the gravitational force on the mass is balanced by the
force in the spring. If the mass is displaced and released, then at some instant it will
be in the position shown in fig.b , and the forces acting on the mass will be :

a gravitational force , w = mg , and

A spring force of w = k δst (1)

The net force is k δst called a restoring force.

Applying Newton’s second law to this system we have:

. ∑ F = mx” = w – k(δst + x )
or
mx” + kx = 0 (2)

Solution of the equation of motion:

The equation (2) is a homogeneous, linear differential equation of the second order.
For solution of this equation :
let x(t) = A cos ωt
x'(t) = - A ω sin ωt
x"(t) = - A ω2 cos ωt

then (2) becomes : - m A ω2 cos ωt + k A cos ωt =0

A cos ωt (- m ω2 + k ) =0

k

m

Where ω is known as the natural frequency of vibration of undamped system.

From the value of ω the frequency f and periodic Tp can obtained, since the natural
frequency or number of cycles per unit time. The frequency is usually expressed in
cycles per second, or hertz (Hz).

. f = 1/Tp Tp = 2π /ω

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 1 1
f   k/m
2 2
2
Ttp   2 (m / k )


But the general solution of the equation (2)is:

x(t) = A cos ωt + B sin ωt (3)

C A2  B 2
B B
tan      tan 1
A A
(3')

A and B are constants can be determined from the initial conditions of motion, such
as displacement and velocity at zero time.

When : t = 0 x(0)= x0 v0 =x'(0)

From (3) : x'(t) = - A ω sin ωt + B ω cos ωt (4)

When : t = 0 x(0)= x0 v0 =x'(0)

Then :
x0 =A x'(0) = B ω (5)

introducing (5) into (3) :

x(t) = x0 . cos ωt + (x'(0) / ω ). sin ωt (6)

Comparing (3) and (6) and using equation (3'), we conclude that the amplitude C and
the phase angle have the values :

C  ( v0 ) 2
2
x 0


  tan 1 v 0

x
0

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 Equation of motion using the principle of conservation of energy:

- -The system is conservative, there is no energy dissipation due to

damping.
- - During vibration, the energy of the system is partly kinetic and
partly potential:
- - the kinetic energy T is stored in the mass by the virtue
of its velocity, and
- - the potential energy U is stored in the spring by virtue
of its elastic deformation.

Then : T + U = constant  T1 + U1 = T2 + U2 ….

d
T  U   0
dt

1 1
T mx ' 2 .......... and.......U  kx 2
2 2
1 1
mx ' 2 ..  .. kx 2 ...  ..cons tan t
2 2

mx"..  ..kx..  ..0

- The same equation (2) obtained by Newton's law.

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 II-1-b Examples :

1- Write the equation of motion and find ω , f.

W = 50 kw k =11 kN/m , A = 28 x 8 cm2 , E = 2.105 N/m2 , L = 0.4m

Solution :

.kb = 3.I.E / L3 , keq = kb. K /(kb + k)

mx" + keq.x =0

ω 2= keq /m ω =√ keq/m

f = ω /2.π

2- L = 100 in , W= 3000 Lb , EI= 108 Lb / in2 , K = 2000 Lb /in

Kb = 3EI / L3

Keq = kb + 2k

mx" + keq.x =0

ω 2= keq /m ω =√ keq/m

f = ω /2.π

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3-

Keq = k1 + k2 if k1 =k2 = 2k

Keq = 4k

mx" + keq.x =0

ω 2= keq /m ω =√ keq/m = =√ 4k/m

f = ω /2.π

4-

If the mass of the beam is negligible :

3
pl
 
48EI
p 48EI
k  3
 l
The equation of motion :

mx" + k.x =0

ω 2= k /m ω =√ /m = =√ 48EI/m.l3

f = ω /2.π

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5- Assume the masse of the cantilever is small , A = 0.25 x 0.25 in2
g = 9.81 m/s2 , g = 32.2 ft/s2, g = 386 in/s2

L= 10in E =30.106 Lb/in2

Solution :

3
pl
 
3EI
p 3EI
k  3
 l
The equation of motion :

mx" + k.x =0

I = b.h3/12 = b4/12 = (1/4)4/12= 1/3072 in2

ω 2= k /m ω =√ /m = =√ 3EI/m.l3

ω =√ 3.(30).(10)6.(32.2)(12)/ (10.(3072).(10)3)

= 33.7 rad/s

f = ω /2.π

6-An aluminum alloy bar 0.5in square, 100 in long, and having vertically
suspends a weight of 5Lb at the lower end. The bar weight is neglecting (2.5Lb)
and E=107 PSI. Find ω.

Solution :

A.E
k 
L
K = (0.5).107 /100 = 2.5 . 104 lb/in

ω 2= k /m ω =√ /m

ω =√ 2.5.(10)4/ 5/386=1389 Rad/s

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7- An automobile wheel and tire are suspended by a steel rod 0.5cm in diameter
and 2m long; when the wheel is given an angular displacement and released, it
makes 10 oscillation in 30.2s. Determine the polar moment of inertia of the wheel
and tire. G= 80 Gpa

Solution :

The angle of twist of the shaft θ = M.L / G.J

Where : G: shear stress J= π d4/32 , L =length d: diameter

M : torque
M = θ .G.J /L
The shaft acts as a Torsional spring with KT :

KT= G.J / L
The equation of angular motion : Σ M = J. θ"
= -KT. θ

J. θ" = -KT. θ  J. θ" + KT. θ =0

θ" + (KT. / J. )θ = 0

ω 2= KT. / J. ω =√ KT. / J.
then:
T = 30.2 /10 = 3.02 s

f = 1 /T = (1 /2.π). √ KT. / J.

1/ 30.2/10 = ω . (1 /2.π)  ω =2.081 Rad /s

KT = G.J / L J = J= π d4/32

Jp = 0.006136 x 10-8 m4
KT = 80 x 109 x 0.006136 x 10-8 / 2 = 2.455 N.m /Rad

then : ω 2= KT. / J. 

J = KT./ω 2 = 2.455 / (2.081)2  J = 0.567 Kg.m2

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8- A weight of 1.93 Lb is suspended by a spring having a spring of 2.5 LB / in .
The oscillatory motion of the mass has a maximum velocity measured as 15 in / s.
Write the equation of motion, determine the frequency, and period of the motion
and amplitude of the displacement in terms of the initial conditions.

Solution:

mx" + k.x =0
m = W/ g = 1.93 /386 = 0.005 Lb.s2 /in

ω 2= k /m ω =√ /m = =√ 2.5 /0.005 =22.36 Rad /s

f = ω /2.π f = 22.36 / 2.π = 3.56 Hz.

T = 1 / f = 1/3.56 = 0.281 s

Since X' = A. ω  X" = A. ω2

And if A=B
A = X' / ω  X" = X'. ω

Then : A = 15 /22.36 = 0.671 in

X" = X'. ω X" = 15 x 22.36 = 335 in /s2

9- Write the equation of motion and find ω.

T : tension in the cord, X1, X2 : are displacement of pulleys

If B is fixed X = 2X1
If A I fixed X = 2X2

If A, B no fixed X = 2X1 + 2X2

Consider B as a free body, and sum forces :

2T - K2X2 = 0 or 2T = K2X2

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 similarly for A :

2T - K1X1 = 0 or 2T = K1X1 = K2X2

then : X = 2X1 + 2X2 = 4T (1/ K1 + 1/ K2 ) = T /Keq

where : Keq = 1/4(1/ K1 + 1/ K2 )

mx" + keq. x =0

ω 2= keq /m ω =√ K1.K2 / 4m(K1+K2)

10- Determine the natural frequency of the spring mass- pulley system shown
below.

Newton's law of eq.of motion :

Mg - T = m. x" (1)

For the pulley M: J. θ" = T.r - K.r2 (θ + θ0) (2)

Where J = (1/2) M. r2 moment of inertia

But at static equilibrium m.g.r = K.r2 .θ0

(2) becomes :

(1/2) M. r2.θ" = r (m.g - m.x" ) - K.r2 .θ

replacing x by r θ or x" by r θ" :

[(1/2) M. r2. + m. r2.] θ"+ K.r2 .θ =0

ω =√ K / (M/2 + m)

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11- Write the equation of motion.

T = keq.X = k1.x1 = K2.x2/2

X = 2 X2 + X1
X2 = 2 k1.x1 /K2

X = 4 k1.x1 /K2 + X1

X1 = X /(4 k1 /K2 + 1)

m.x" + T =0

m.x" + k1.x1 = 0

m.x" + k1.x/(4 k1 /K2 + 1) =0

m.x" + keq.x =0

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12- Find the Keq and write the equation of motion?

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 13- Consider the harmonic oscillator described by the equation :

.m.x” + kx =0

let m 3kg/s2.m and k =700kg/m.Determine the response x(t) for the initial conditions
x0=x(0) =0.25 m and V0 = X’0 =12 m/s.

Solution :
mx” + kx = 0 (1)

the general solution of the equation (1)is:

x(t) = A cos ωt + B sin ωt (2)

A and B are constants can be determined from the initial conditions of motion, such
as displacement and velocity at zero time.

When : t = 0 x(0)= x0 v0 =x'(0)

From (2) : x'(t) = - A ω sin ωt + B ω cos ωt (3)

When : t = 0 x(0)= x0 v0 =x'(0)

Then :
x0 =A=0.25m x'(0) = B ω B= x'(0) / ω

ω =√ K / (g m) =√700/(3x9.81)=4.87 Rad/s

then : B=12/4.87 =2.46

the amplitude C and the phase angle have the values :

C  ( v0 ) 2
2
x 0


  tan 1 v 0

x
0

C= √(0.25)2+(12/7.87)2 =2.47

.α= tan-1 12/(0.25x4.87) =84.206º

the general solution is : X(t) = C (cos ωt - α)

X(t) = 2.47 (cos 4.87t - 84.206)

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II-2 Free vibration of damped system:

Fig. Shows a spring – mass system in which a mass, m, is suspended from an infinite
mass by a spring which k is the stiffness of the spring, and the damping element with
the constant C.

This is the simplest example of a one degree of freedom vibrating system. A single
coordinate x measuring the displacement of the mass relative to a reference point is
sufficient to specify the position of the system.

II-1-a Equation of motion : x. x' x''

kx
Using 2nd Newton's law Cx'

Σ F = m.a

F = - k.x - Cx' = m.x” 

m.x" + Cx' + k.x =0

where :
x : is displacement [m] k: is spring stiffness [N/m], x' : velocity [ m/s]
a or x": is acceleration [m/s2] m: is the mass [kg]

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II-1-C Examples:

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3-

Example :

The following data are given for a vibrating system with viscous damping W
=58.86N, k = 1KN/m, and C36 N.s/m for velocity 1m/s and when t=0,
X0(0) = X0 =50mm. Write the equation of motion and find the response X(t).

Solution :

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Example:

If W 5Lb, K =10Lb/in , x1 = 1, X2 = 0.95.Find ωn ,δ ,ξ , ωd and C.

Solution :

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III-3 Harmonically Forced vibration:

III-3-a Undamped system:

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Example:

A mass spring system is excited by a force F= 4sinωf.t, with k =20Lb/in,W =23.83 Lb

1- obtain the magnification factor for value of 3.6, 16.2, and 54 rad/s.
2- if ωf. is equal the natural frequency, obtain the amplitude at the end of 10
cycles as well as the time required to reach this stage.

Solution :

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II-3-b Harmonically forced vibration with damping:

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Example:

Example :

A damped system is driven by the force F = 0.54 sin12t where F0 is in N , and t in

second. The system has a mass 0.1 Kg and damping constant is 0.24 N.s/m.
a- obtain the steady state amplitude for spring constant K values of 2 , 25 ,
90N/m.
b- determine the spring constant K that will produce the maximum amplitude,
and calculate this amplitude.

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Rotating unbalance:

Unbalance in rotating machines is a common source of vibration excitation. The

unbalance is represented by an eccentric mass m with eccentricity e that is rotating
with angular velocity ω. By :

X : displacement
Non rotating mass (M- m )
The displacement of m is X + e .sin ω t

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Example:

A variable-speed electric motor has a radial clearance of 1mm between the stator and
rotor. The rotor has a mass of 25Kg and has an unbalance (me) of 5Kg.mm. the rotor
is mounted on a steel shaft midway between the two bearings. The distance between
the gearings is 2m the operating speed of the machine varies from 600 to 6000 RPM.
Determine the diameter of the shaft so that the rotor is always clear of the stator at
any operating speed within the specified range. Assume that the damping is
negligible.

Solution:

The max. amplitude of the shaft (rotor) due to rotating unbalance can be obtained
from :

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Example :

If the amplitude X = 0.6cm, when the rotation was increased the X to approach a fixed
value of 0.08cm. Determine the damping factor of the system.

Solution:

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Laplace Transformation:

The Laplace transformation method can be used to find the response of a system
under any type of excitation.
The Laplace trans formation of a function x(t) is defined as :

Where S is in general, a complex quantity and is called the subsidiary variable. The
function e-st is called the Kernel of the transformation.
In order to solve a vibration problem using the Laplace transformation method, the
following steps are necessary:

1- write the equation of motion of the system;

2- transform each term of the equation , using known initial conditions;
3- solve for the transformed response of the system;
4- obtain the desired solution (response)by using inverse Laplace transformation.

Where X(0) = X0 is the initial displacement of the mass.

For:

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Where : X’(0) =X’0 is the initial velocity of the mass m.

Laplace transformation of the force F(t):

We can transform both sides of eq. (1).

We take X’(0) and X(0) =0

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Example:

Using Laplace transformation for finding the response of the system which has this
equation.

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 CHAPTER III

Two degrees of freedom systems

III-1 Two degrees of freedom systems

III-2 Normal Modes
III-3 Equations of motion
III-4 Examples

III-5 Torsional vibration

III-6 Examples

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III-1 Two Degrees of Freedom:

Systems that require two independent coordinates to specify their position are called
two degrees of freedom systems. The following three systems are of two degrees of
freedom.

III-2 Normal Modes:

There are two equations of motion for a two degree of freedom system, one for each
mass. As a result, there are two natural frequencies for two degree of freedom system.
The natural frequencies are found by solving the frequency equation of an Undamped
system. We will determine the equations of motion and the natural frequencies of the
two degree of freedom spring mass system shown below in the figure.

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III-3 Equations of motion:

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III-4 Examples:

Example :

Determine the equations of motion and the natural frequencies of the two degree of
freedom spring mass system shown below in the figure. If (automobile) m1=2000Kg,
m2 (trailer) = 500Kg, K= 150N/mm.

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Example:

Determine the equations of motion and the natural frequencies of the two degree of
freedom spring mass system shown below in the figure. If (automobile) W1=m2
(trailer) = 24ton , K= 320KN/m.

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III-5 Torsional Vibration:

Torsional vibration is periodic angular motion of elastic shafts with circular rotors
rigidly attached to them.

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 1- What are the three elementary parts of a vibrating system?
2- Define the degree of freedom of a vibrating system?
3- What is the difference between free and forced vibration?
4- What is the difference between deterministic and random vibration?
5- What is the difference between harmonic motion and periodic motion?
6- Define these : cycle, amplitude, frequency, period and natural frequency.
7- Determine the equivalent spring constant of the system shown in figure.

1- mass, spring, damper.

2- The number of variable (coordinates) need to describe its motion.
3- In forced vibration : the system is subjected to an external force (often a
repeating type of force) but in free vibration no repeated external force acts on
the system (is left to vibrate on its own).
4- Deterministic : the value of the excitation (force or motion) acting on a
vibrating system is known at any given time (sin wt, coswt..)
Random: when the excitation is non deterministic or random the value of the
excitation at a given time cannot be predicted .examples:

- ground motion during earthquakes.

- The noise of a jet engine.

5- periodic motion: is repeated in equal intervals of time,

Harmonic motion : as projection of a point on a circle.
-

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TEXTBOOKS:

1- Mechanical Vibration
S.S.Rao, Addeson Wesley

2- Vibration for engineers

A.D. Dimargonas, and S Haddad, Prentice Hall.

3- Theory of vibration with applications

W.T.Thomson, Prentice Hall.

4- Vibration analysis.
Robert .K. Vierck. Harper& Row, publishers.

5- Mechanical vibrations
William W.SETO.
Schaum’s outline series in Engineering.Mc GRAW Hill Book

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