Instructor:

Dr. Atef Mohany, P.Eng

Room ACE 2022
Atef.Mohany@uoit.ca

Mechanical Vibrations

Mechanical Vibrations
MECE 3210U

Introduction -1

Schedule
Tutorials/Labs

Office Hours

Check the
Schedule on
MyCampus

Thursday

Day(s)

Monday and
Thursday

Time

6:40 8:00 pm
5:10 6:30 pm

Check MyCampus

3:00 5:00 pm

UP 1500

Check MyCampus

ACE 2022

Location

(Tutorials are
divided into three
sections)

Mechanical Vibrations

Lectures

Introduction -2

Textbook
Mechanical Vibrations

Singiresu S. Rao,
Mechanical Vibrations,
5th Edition, Prentice
Hall, 2011.

Introduction -3

Prerequisites
2020 Statics and Dynamics

OR
ENGR
You

2430 Dynamics

must withdraw from this course if you

have not completed the prerequisites (min. D
grade)

Mechanical Vibrations

ENGR

Introduction -4

Marking Scheme
5% (bonus)
10%
10%
30%
50%

Mechanical Vibrations

Short Random Quizzes

Assignments (5)
Labs
Midterm (1:30 hrs)
Final Exam (3 hrs)

Introduction -5

Assignments (individual effort)

assignment is divided into two parts:

Part A is to be done during the tutorial period

with the assistance of the TA.
Part B is to be done outside of the tutorial and is
to be handed in on the designated due date.
Only one question (randomly selected) will be
marked. Solutions of all questions are required in
order to get credit for the assignment. No credit
will be given for the assignment if the question
set for marking was not answered.
Late

assignments will not be accepted.

Mechanical Vibrations

Each

Introduction -6

Assignment Format
Page (typed)

Name:
ID #:
Assignment #:
Present
FBD

a solution

is important

Staple

Mechanical Vibrations

Cover

Introduction -7

Experimental Labs
Mechanical Vibrations

Carefully read lab handout prior to lab so you

will be ready to go to work.
20% of the lab mark will be assigned by the TA
based on your readiness, so come to the lab
prepared.
Bring a hard cover lab notebook.
Record all important details in your notebook
and have it signed by the lab instructor before
leaving the lab.
You should form groups of 5 or 6 students each.
Prepare a report (per group) for each lab.

Introduction -8

Quizzes
will be held randomly during
the class throughout the term.

10-15
No

min

deferred quizzes

Mechanical Vibrations

Quizzes

Introduction -9

Exams
Thursday, March 3rd @ UP 1500 from 5:10 pm to
6:30 pm
30%
Final

50%
You need to pass the final in order to pass the
course.
If you do better on the final exam than you do on
the mid-term exam, then the final exam will be
worth 60% and mid-term 20%.

Mechanical Vibrations

Midterm

Introduction -10

Course Outlines
Response to harmonic excitation - forced, base
motion, rotating unbalance
General forced response

Multiple-degree-of-freedom systems matrix

models, mode shapes, modal analysis
Continuous systems wave equations applied to
strings, bars, beams, plates (intro.)
Vibration control, vibration severity criteria,
balancing, whirling shafts, damping, isolation,
dynamic vibration absorber

Mechanical Vibrations

System dynamics review (free response)

Introduction -11

Laboratories
Vibration of springmass systems.

Free vibration of a singledegreeof

freedom system.

Free damped vibration.

Forced damped and undamped vibration.

Vibration of a twodegreeoffreedom
system.

Mechanical Vibrations

Introduction -12

My Expectations
Mechanical Vibrations

Attend all lectures and tutorials

Read assigned readings, and do the
assignments
Do not leave the lecture room without
understanding (Just ask me)
Try the assignment yourself, if you have
any difficulties come and see me or the
TA
Participate in the lecture and give me
feedback

Introduction -13

Introduction
Few Definitions
Classification of Vibrations

With many figures and models from Mechanical Vibrations, S. S. Rao

Mechanical Vibrations

MECE 3210U: Fundamentals of

Vibrations (Ch.1)

Introduction -14

Scope of the course

Force

No Motion

Who cares?

Statics

Motion

Kinematics

Dynamics

Mechanical Vibrations

No Force

Introduction -15

Vibration in Our Lives

Mechanical Vibrations

Our heart beat, our lungs oscillate, we hear

because our ear drum vibrate.
Vibration even makes us snore !!
The light waves which permit us to see & sound
waves through which we hear entail vibration
We cannot even say vibration without vibration
of larynges, vocal cord
We move by oscillating our legs
We limit our discussion to mechanical
vibrationie. vibration of systems that contain
Mass and Elasticity

Introduction -16

Importance of the Study of Vibration

study vibration?

Vibrations

can lead to excessive deflections

and failure on the machines and structures.

To

reduce vibration through proper design of

machines and their mountings.

To

improve the efficiency of certain machining,

casting, forging & welding processes.

To

stimulate earthquakes for geological

research and conduct studies in design of
nuclear reactors

Mechanical Vibrations

Why

17

Basic Concepts of Vibration

Vibration = any motion that repeats itself

after an interval of time
Vibratory System consists of:
1) spring or elasticity
2) mass or inertia
3) damper
Involves transfer of potential energy to
kinetic energy and vice versa

Mechanical Vibrations

18

Basic Concepts of Vibration

Examples of single degree-of-freedom

systems:

Mechanical Vibrations

Degree of Freedom (d.o.f.) =

minimum numbers of independent coordinates
required to determine completely the positions of all
parts of a system at any instant of time.

19

Basic Concepts of Vibration

Examples of single degree-of-freedom
systems:

Mechanical Vibrations

20

Basic Concepts of Vibration

Examples of Two degree-of-freedom systems:

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21

Basic Concepts of Vibration

Examples of Three degree of freedom
systems:

Mechanical Vibrations

22

Basic Concepts of Vibration

Example of Infinite-number-of-degrees-offreedom system:

Infinite number of degrees of freedom system

are termed continuous or distributed systems

Finite number of degrees of freedom are

termed discrete or lumped parameter systems

More accurate results obtained by increasing

number of degrees of freedom

Mechanical Vibrations

23

Classification of Vibration
Free Vibration:
A system is left to vibrate on its own after an initial
disturbance and no external force acts on the system.
E.g. simple pendulum

Forced Vibration:
A system that is subjected to a repeating external
force.
Resonance occurs when the frequency of the
external force coincides with one of the natural
frequencies of the system

Mechanical Vibrations

24

Classification of Vibration
Undamped Vibration:
When no energy is lost or dissipated in friction
or other resistance during oscillations

Damped Vibration:
When any energy is lost or dissipated in
friction or other resistance during oscillations

Linear Vibration:
When all basic components of a vibratory
system, i.e. the spring, the mass and the
damper behave linearly

Mechanical Vibrations

25

Classification of Vibration
Nonlinear Vibration:
If any of the components behave nonlinearly

Deterministic Vibration:
If the value or magnitude of the excitation
(force or motion) acting on a vibratory system
is known at any given time

Nondeterministic or random Vibration:

When the value of the excitation at a given
time cannot be predicted

Mechanical Vibrations

26

Classification of Vibration
Examples of deterministic and random
excitation:

Mechanical Vibrations

27

Vibration Analysis Procedure

Step 1: Mathematical Modeling

Step 2: Derivation of Governing Equations

Step 3: Solution of the Governing Equations

Step 4: Interpretation of the Results

Mechanical Vibrations

28

Vibrations Friend or Foe?

- Conveyers, Hoppers, Compactors,
Pneumatic Drills, etc.
-Washing Machine

- Mechanical Shakers, Mixers,

Sorters, etc.
- Musical Instruments
- Clocks, Watches
- Medical Field-Massagers, etc.

Foe
-Resonance-Resonance-Resonance
- Tacoma Narrows Bridge
(http://www.youtube.com/watch?v=3
mclp9QmCGs)
- Similar problem in machine tools,
vehicles, turbines, pumps,
compressors, buildings, aircraft &
spacecraft system
- Excessive vibration leads to
loosening on parts, noise& eventual
failure
- Effects of vibration on human
body: Discomfort, Fatigue, Loss of
Efficiency

Mechanical Vibrations

Friend

Introduction -29

Spring Elements
Linear spring is a type of mechanical link that is
generally assumed to have negligible mass and
damping

Spring force is given by:

F kx
F = spring force,
k = spring stiffness or spring constant, and
x = deformation (displacement of one end
with respect to the other)

Mechanical Vibrations

Introduction -30

Spring Elements
Note that x is the displacement of one end of
the spring with respect to the other end.

body

body
y

x>y

x<y

F = k (x-y)

F = k (y-x)

compression

tension

Mechanical Vibrations

Introduction -31

Spring Elements
Transverse Motion

x(t)

3EI
l3

M
x(t)

Actual system

Single degree of
freedom model

Mechanical Vibrations

Introduction -32

Spring Elements
Longitudinal Motion

l
m
x(t)

A is the cross sectional area (m2)

E is the elastic modulus

(Pa=N/m2)

l is the length (m)

k is the stiffness (N/m)

Mechanical Vibrations

Introduction -33

Spring Elements
Torsional Motion

Jp

0
J

q(t)

Jp is the polar moment of

inertia of the rod

J is the mass moment of

inertia of the disk

G is the shear modulus

(modulus of rigidity of shaft
material)
l is the shaft length

Mechanical Vibrations

Introduction -34

Stiffness Measurements

Linear

Nonlinear

Deflection or strain

F = k x or s = E e

F
k
x

Mechanical Vibrations

From Static Deflection:

Introduction -35

Spring Elements
Combination of Springs:
1) Springs in parallel if we have n spring
constants k1, k2, , kn in parallel, then the
equivalent spring constant keq is:
keq k1 k2 ... kn

Mechanical Vibrations

Introduction 36

Spring Elements
Combination of Springs:
2) Springs in series if we have n spring
constants k1, k2, , kn in series, then the
equivalent spring constant keq is:

1
1 1
1
...
keq k1 k2
kn

Mechanical Vibrations

Introduction -37

Example 1.26
the equivalent spring constant of
the system shown below.

Mechanical Vibrations

Find

Introduction -38