Introduction

The Millenium Bridge
PLACE :
London, England
Dynamics II COST:
28.4 Million Dollars
Dr. Jorge A. Olórtegui Yume, Ph.D.
OPEN TO PUBLIC:
June 10th, 2000
INTRODUCTION TO MECHANICAL CLOSED:

3 days after!!!
VIBRATIONS CAUSE:
Vibrations felt by pedestrians
”The Wobbly Bridge”
RE-OPEN TO PUBLIC:
Lecture No. 1 Feb. 22nd, 2002
ANALYSIS, REINFORCING, TESTING COST:
7.8 MILLION Dollars
Mechanical Engineering School ANALYSIS:
Based upon Tacoma Narrows Bridge case
National University of Trujillo
1 Introd. to Mech. Vibrations 2 Dr. Jorge A. Olortegui Yume, Ph.D.
THE TACOMA NARROWS BRIDGE Broughton suspended bridge

PLACE :
PLACE: Manchester, England
Tacoma - Gig Harbor, Washington, USA
COST:
Unknown
OPEN TOPUBLIC:
July 1st, 1940 BUILT:
1826
COLLAPSE:
COLAPSE:
Nov 7th, 1940
April 12, 1831
CAUSE: CAUSE:
RESONANCE Possible cause:
Wind-induced oscillation RESONANCE between marching soldiers frequency & bridge natural frequency
frequency coincided with one of
the bridge´s natural frequencies
ANALYSIS:
Loose bolt afected by stumps on bridge
RESONANCE was not a developed concept
Introd. to Mech. Vibrations 3 Dr. Jorge A. Olortegui Yume, Ph.D. Introd. to Mech. Vibrations 4 Dr. Jorge A. Olortegui Yume, Ph.D.
TODAY´S TACOMA NARROWS BRIDGE
CRAWL, WALK, RUN AND THEN…
FLY
BEFORE BEFORE WE CAN SOLVE SUCH COMPLEX

PROBLEMS ….
NEED MECHANICAL VIBRATIONS FUNDAMENTALS
BEFORE AFTER AFTER
WHAT DO WE DO IN THE MECH. WHAT DO WE DO IN THE MECH.

VIBRATIONS PART? VIBRATIONS PART?
l2 l1
Physical Physical  x
System System
k2 k1
Engineering
Model
WHAT DO WE DO IN THE MECH. WHAT DO WE DO IN THE MECH.
VIBRATIONS PART? VIBRATIONS PART?
m 0   x  k1  k 2  k1l1  k 2l2   x  0  xt     
 0 mr 2     k l  k l  k l 2  k l 2     0    A1  1  sin 1t  1   A2  2  sin 2t   2 
 t 
Physical
Physical
System
    1 1 2 2 11 2 2     System 1 1
Engineering
Engineering Model
Model
Mathematical
Mathematical Model
Model
Mathematical
Solution
MECH. VIBRATIONS FUNDAMENTALS MECH. VIBRATIONS FUNDAMENTALS

VIBRATION: Any motion that repeats itself after an VIBRATORY SYSTEM PARTS
interval of time ViIBRATION
•Mean of Epotential storage
Examples: • Spring (k) or elasticity in general
• Motion of a plucked guitar string
• Ground motion in an earthquake 1 2
E potential  kx
• Beating of your heart 2
• Oscillation of mass attached to spring & damper
•Mean of Ekinetic storage
• Pendulum • Mass (m) or inertia in general
1 2
Vibration Ekinetic  mv
2
dEdissipated
•Mean of gradual Energy disipation  Pdissipated   cv 2
•Damper (c), friction () dt
DEGREE OF FREEDOM “N” DEGREE OF FREEDOM SYSTEM (N-DOF)
Mín. # of independent coordinates needed to define position of all parts of
a system at any instant.
ONE DEGREE OF FREEDOM SYSTEM (1-DOF) TWO DEGREE OF FREEDOM SYSTEM (2-DOF)
Torsional
system
Mass-Spring
System
THREE DEGREE OF FREEDOM SYSTEM (3-DOF) A cantilever beam showing an infinite number of DOF
Model as
N N = Finite #
CONTINUOUS DISCRETE OR
SYSTEM LUMPED SYSTEM

VIBRATION CLASIFICATION VIBRATION CLASIFICATION
Several criteria
Free Vibration:
System disturbed initially then
left to oscillate on its own
Forced Vibration: Linear Vibration: Non-linear Vibration:
System subject to an external Basic components of system Real components are non linear
force usually oscillating behave linearly
Equation Of Motion (EOM) Equation Of Motion (EOM)
   
Undamped Vibration: m x  c x  kx  0 m x  c x  k  x x  0
If no energy is dissipated by IF
friction or othe resistance m, c, k are constants
Damped Vibration: THEN Diff. Equation is NON-LINEAR
If energy is gradually lost Diff. Equation is LINEAR
Ooops!. Soln. To EOM is usually not
Great!. Soln. To EOM is usually known and/or difficult to obtain and
known and relatively easy to use difficult to use  Num. Methods
SOME CONCEPTS IN VIBRATIONS MODELLING SOME CONCEPTS IN VIBRATIONS MODELLING
Newton´s 2nd Law (Dynamics)


F  mx
Equation Of Motion (EOM)
 
m x  c x  kx  0
x1 t   X 1e nt sin d t   

SOME CONCEPTS IN VIBRATIONS MODELLING Example: The figure shows a motorcycle and its rider. Develop a
sequence of three mathematical models of the system to investigate
vibration in the vertical direction. Consider the elasticity of the tires, struts,
and rider; damping of the struts (vertically) and the rider; masses of the
wheels, body vehicle and rider.
Which part of the

modelling
procedure is this?
Solution: • Elasticity  k (stiffness) of tires, struts, and rider Solution: • Elasticity  k (stiffness) of tires, struts, and rider
• Energy dissipation  c( damping) of struts and rider • Energy dissipation  c( damping) of struts and rider
• Inertia  m (mass) of wheels, vehicle body, and rider • Inertia  m (mass) of wheels, vehicle body, and rider
Physical System: Rider-Motorcycle Model Rider-Motorcycle using Physical System: Rider-Motorcycle Model Rider-Motorcycle using
basic components basic components
Model 1 Model 2
• 1-DOF • 2-DOF
• keq = stiffness of tires, struts, and rider • Stiffness of tires & struts separately. Rider stiffness 0
• ceq = includes damping of struts, and rider • Struts damping separately and rider damping 0
• Mass of vehicle body and rider together
• meq = mass of wheels, vehicle body, and rider

Solution: Solution:
Physical System: Rider-Motorcycle Model Rider-Motorcycle using Physical System: Rider-Motorcycle Model Rider-Motorcycle using
basic components basic components
• 2-DOF Model 4
• 3-DOF Model 3
• Struts Stiffness together. Rider stiffness 0
• Stiffness of tires, struts and rider considered • Struts damping together and rider damping 0
• Struts and rider damping considered • Masses of vehicle body and rider together
• Masses of tires, vehicle body and rider considered • Masses of wheels together
Solution:
Now the ball is on your court !!!
Exercise: A study of the
vibratory response of a HEAD HEAD
human body subjected to NECK NECK
vibration/shock is important UPPER UPPER
in many applications. In a TORSO TORSO
standing posture, the ARM ARM
masses of head, upper SPINAL HIPS SPINAL HIPS
torso, hips, and legs and COLUMN COLUMN
the elasticity and damping
of the neck, spinal column,
abdomen, and legs LEGS
influence the vibratory LEGS
response characteristics.
Develop a sequence of
three improved
approximations for
modeling the human body

Solution: Solution:
HEAD HEAD
NECK
NECK
UPPER SHOULDER UPPER
TORSO TORSO
ARM ARM
SPINAL HIPS SPINAL HIPS
COLUMN COLUMN
LEGS LEGS
MECH. VIBRATIONS FUNDAMENTALS MECHANICAL VIBRATIONS FUNDAMENTALS
Solution: BASIC ELEMENTS OF A VIBRATING SYSTEM
Spring Elements
HEAD • Linear
NECK • Mass and Damping negligible
SHOULDER UPPER • Restoring Force opossed to
TORSO deformation
ARM
Assume : x1 > x2
SPINAL HIPS
COLUMN
LEGS
Fext = Fint
Deforming Internal
Fext Fint Fint Fext
MECHANICAL VIBRATIONS FUNDAMENTALS MECHANICAL VIBRATIONS FUNDAMENTALS

BASIC ELEMENTS OF A VIBRATING SYSTEM BASIC ELEMENTS OF A VIBRATING SYSTEM
Spring Elements Spring Combinations
Free Body Diagrams (FBD´s) In Parallel
Spring FBD FBD of Body attached to spring
Strectching Fs Fs
(“Coming out”)
Lo x
Lf
= keq
Stretching
Fs Fs
Shrinking
W
(“Coming in”) Fs
Lo x (“Coming out”)
Lf • Equivalent spring can replace original system
Spring Force Potential Energy stored in spring

N
Shrinking
• All elongations are equal  st  1   2
1 2 • Forces in each spring are different
Fs  kx E pot  kx
F1  k11  F1  k1 st F2  k 2 2  F2  k 2 st
2
W • Equilibrium
Fs : Spring Force (in N)
Epot : Potential Energy (in J) Fs W  F1  F2  k11  k 2 2
x : Spring elongation (in m)
k : Spring Constant or Stiffness (in N/m) N
(“Coming in”)
keq st  F1  F2  k1 st  k 2 st  keq  k1  k 2
Spring Combinations Spring Combinations in general
In Series In Parallel 1   2  ...   n   eq  Fs1  Fs 2  ...Fsn  Fseq
k11  k 2 2  ...k n n  keq eq
keq  k1  k 2  ...  k n
= keq
Special case
k1  k 2  ...k n  k keq  nk
• Equivalent spring can replace original system
In Series 1   2  ...   n   eq Fs1 Fs 2 F Fseq
• Total elongation is summation of elongations    ... sn 
k1 k2 kn keq
 st  1   2 1 1 1 1
   ... 
• Forces in each spring are equal because of equilibrium W  F1  F2 keq k1 k 2 kn
 st  1   2
W
F1  k11  W  k 21  k1  1 Special case
keq 
k1k 2
1 1 1 n2 k1  k 2
W W W
    
F2  k 2 2  W  k 2 2 
W
 2 keq k1 k 2 keq k1 k 2 Special case k1  k 2  ...k n  k k eq 
k
k2 n

Example: Find the equivalent stiffness k of the following system diameter d = 2 cm Solution:
Solution: Springs in parallel and series:
k1 k2 k1+k2+k5 k1+k2+k5
k1+k2+k5
m m m m
m
k3 k3 1 kk
k3   3 4
k5 1 1 k3  k4

k4 k3 k4 kk
k4 k4 keq  k1  k 2  k5  3 4
k3  k 4
Your turn !!! Solution:
Exercise: Determine the equivalent spring constant of the system shown
= keq

Masa suspendida al final de una viga en voladizo (Flexión): Masa suspendida al final de una barra (Torsión):
Sistema Real o Situación Física (a) Sistema Real o Situación Física
(a) Modelo de 1GDL (asume que no hay amortiguamiento c=0) (b) Modelo de 1GDL (asume que no hay amortiguamiento )
d
Gd 4
(a) G L (b) kt 
32 L
M
t 
De Resistencia de Materiales De Resistencia de Materiales
Deflección Estatica al final de una viga en Desplazamiento angular quasi-estatico al
voladizo debido a masa “m” en el extremo. final de una barra redonda debido a torque Ley de Hooke Analogía
Ley de Hooke Analogía
Asumir que masa de barra << “m”
F  k
“M” en el extremo. M  kt
ML ML 32 ML M M Gd 4
 st 
 st 
Wl 3

mg l 3
F k
W 3EI
 3 GI p

 d 4 

G d 4 kt 
M kt 
 st

32ML

32 L
k  st
G  
 Gd 4
3EI 3EI  l  32 
Constantes de Rigidez para otros Tipos Elementos Simples (Ejemplo) Example: The figure shows the suspension system of a freight truck with a parallel
spring arrangement . Find the equivalent spring constant of the suspension if
each of the three helical springs is made of steel (G=80x109 N/m2) and has five
effective turns, mean coil diameter D =20 cm, and wire diameter d = 2 cm
Solution:
The stiffness of each helical spring is:
k
Gd 4


80 109 0.02  
 40,000 N / m
4
80.20  5
3
8D 3n
Parallel spring arrangement:
keq  3k  340,000 N / m   120,000 N / m

Ejemplo: Determine the Solution: (cont´d)
torsional spring constant
of the steel propeller shaft
shown
Solution:
• Consider shaft by parts: 12 y 23

• Induced torque in any cross section of the shaft equal to the applied torque
“T” (draw imaginary sections at A-A y B-B)
kt 23  GJ 23 

G D234  d 234  


80 109  0.25  0.15
4 4

 8.9 10 6 N  m / rad
• Segments 12 y 23 regarded as series springs l23 32l23 323
kt 12 GJ
 12 

G D124  d124  


80  109  0.3  0.2 
4 4

 25.53 10 6 N  m / rad
Series spring
kt 12 kt 23
1 1 1
l12 32l12 322    kt eq   6.6  10 6 N  m / rad
kt eq kt 12 kt 23 kt 12  kt 23
BIBLIOGRAPHY
BÁSICA:
•Thomson, W.T., Dahleh, M.D., 1997, “Teoria de Vibraciones con Aplicaciones”, Prentice Hall
Iberoamericana, 5ta Edición, México.
•Inman, D., 2007, “Engineering Vibration”, Prentice Hall, 3rd Edition, USA.
•Moore, H., 2008, “Matlab for Engineers”, Prentice Hall, 2nd Edition, USA.
COMPLEMENTARIA:
•Balachandran, B., Magrab, E., 2006, “Vibraciones”, Thomson, 5ta Edición, México
•Rao, S.S., 2004, “Mechanical Vibrations”, Ed. Prentice Hall, 4th Edition, USA.
ESPECIALIZADA:
•Hartog, D., 1974, “Mecánica de las Vibraciones”, Cecsa, Mexico.
•Harris, C., Piersol, A., 2001, “Harri´s Shock and Vibration Handbook”, McGraw Hill Professional,
5th Edition. USA.
Introd. to Mech. Vibrations 45 Dr. Jorge A. Olortegui Yume, Ph.D.

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The Millenium Bridge

INTRODUCTION TO MECHANICAL CLOSED:

THE TACOMA NARROWS BRIDGE Broughton suspended bridge

BEFORE BEFORE WE CAN SOLVE SUCH COMPLEX

NEED MECHANICAL VIBRATIONS FUNDAMENTALS

BEFORE AFTER AFTER

WHAT DO WE DO IN THE MECH. WHAT DO WE DO IN THE MECH.

MECH. VIBRATIONS FUNDAMENTALS MECH. VIBRATIONS FUNDAMENTALS

MECH. VIBRATIONS FUNDAMENTALS MECH. VIBRATIONS FUNDAMENTALS

Newton´s 2nd Law (Dynamics)

x1 t   X 1e nt sin d t   

MECH. VIBRATIONS FUNDAMENTALS MECH. VIBRATIONS FUNDAMENTALS

Which part of the

MECH. VIBRATIONS FUNDAMENTALS MECH. VIBRATIONS FUNDAMENTALS

MECH. VIBRATIONS FUNDAMENTALS MECH. VIBRATIONS FUNDAMENTALS

MECHANICAL VIBRATIONS FUNDAMENTALS MECHANICAL VIBRATIONS FUNDAMENTALS

Spring Force Potential Energy stored in spring

MECHANICAL VIBRATIONS FUNDAMENTALS MECHANICAL VIBRATIONS FUNDAMENTALS

MECHANICAL VIBRATIONS FUNDAMENTALS MECHANICAL VIBRATIONS FUNDAMENTALS

keq  3k  340,000 N / m   120,000 N / m

MECHANICAL VIBRATIONS FUNDAMENTALS MECHANICAL VIBRATIONS FUNDAMENTALS

• Consider shaft by parts: 12 y 23

Introd. to Mech. Vibrations 45 Dr. Jorge A. Olortegui Yume, Ph.D.

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