Lec Vibration 3 2014 READY 1

SCHOOL OF MECHANICAL AND
AEROSPACE ENGINEERING
NANYANG TECHNOLOGICAL
UNIVERSITY, SINGAPORE
Free Vibration of SDOF Systems

SDOF Systems Revisited
(a) Building Frame
(b) The Space Needle
Lecture Part 2 L3
1/26
Free Vibration of Undamped SDOF Systems
Tuesday, August 18, 2015

Free Vibration of A System

A system is said to undergo free vibration when it
oscillates under only an initial disturbance, with NO
external forces acting on it after the initial disturbance.
Vibration of an
SDOF System:
1. Free Vibration
2. Forced Vibration
3. Resonance
Lecture Part 2 L3
2/26

Typical Response of Free Vibration (Undamped)

x
x
m
x X sin n t
2
where n
T
Natural Frequency of Vibration
n :
For an SDOF system of mass m and stiffness k, its

Natural Frequency is defined as,
k
m
Lecture Part 2 L3
rad / s
3/26
n
fn
2
Hz

Derivation of Free Vibration Response

For a known SDOF system (values of mass m and
stiffness k are given), one can derive vibration
response x(t), under any known initial disturbance.
x
k
m
O
Given m , k
x 0 x0 & x 0 x 0
4/26
x t
FBD
kx
F ma k x m x
Lecture Part 2 L3
2
nx

Solve x from
with x 0 x0 & x 0 x 0
x n2 x 0 (1)
From Math Course, general solution of (1) becomes,
x t A cos n t B sin n t
A, B constants to be determined from initial conditions.
x t
Then x t
Then x t
n2 x
Quick Check! If
A cos n t B sin n t
A n sin n t B n cos n t
A n2 cos n t B n2 sin n t
An2 cos n t Bn2 sin n t
x n2 x 0 (1)
Lecture Part 2 L3
5/26

Determine A, B from given initial conditions:
x 0 x0 & x 0 x 0
x 0 A cos n 0 B sin n 0 A
A x0
x t A n sin n t B n cos n t
x 0 A n sin n 0 B n cos n 0 Bn
x 0
B
n
The final solution becomes,
x 0
x t x0 cos n t
sin n t
n
Lecture Part 2 L3
6/26
(2)
k
m

Alternative form of Solution:

x
x
m
x X sin n t
From trigonometry,
x 0
x t x0 cos n t
sin n t
n
x t X sin n t
where
Lecture Part 2 L3
X
7/26
x02
x 0
(2)
(3)
x0 n
tan
x 0

Extra:
a sin t b cos t
a
2
2
a b
sin t
2
2
a
a
Let
cos
a2 b2
b
2
Then sin 1 cos
,
2
2
a b
b
a2 b2
cos t
b
tan
a
a sin t b cos t a 2 b 2 cos sin t sin cos t

1 b
2
2
a b sin t , tan
a
Lecture Part 2 L3
8/26

Ex 1 The column of water tank shown is 100m high

and is made of reinforced concrete (E=2.6x1010N/m2)
of tubular cross section of d1=2.5m and d2=3m. The
tank weighs 2.5x105kg with water.
(i) Find the natural
frequency of transverse
vibration (neglecting mass
of the column);
(ii) If the tank is initially
displaced to the right by
0.5m, find its subsequent
vibration.
Lecture Part 2 L3
9/26

As far as transverse vibration is concerned, the tank

can be modeled as an SDOF system,
4
4
2
.
6
10
3
2
.
5
3 EI
5
64
k 3
1
.
6
10
N/m
3
l
100
10
(i) The natural frequency becomes,
1.6 10
0.8 rad / s
5
2.5 10
5
(ii) Initial conditions are:
At t 0 : x0 0.5 m
Lecture Part 2 L3
10/26
x 0 0
m
k

x X sin n t
X
2
x0
x 0
x02
x 0
0.5 0 0.5
x 0.5 sin 0.8 t

2
11/26
x0n
tan
x 0
x0n
1 0.5 0.8
tan
tan

0
x 0
Lecture Part 2 L3
x 0.5 cos 0.8 t #

Ex 2 A pendulum is shown with the link

assumed to be massless.
(i) Find the natural frequency of
vibration of the system;
(ii) If at t=0, a bullet of mass m with
speed v0 hits the pendulum,
determine the subsequent
motion (assume the bullet stays m
with the pendulum after the
impact).
Lecture Part 2 L3
12/26
l/2
l
v0
k1

(i)
M O I O
l l
M g l sin k1
cos M l 2
2 2
sin , cos 1 small
l l
M g l k 1
2 2
k1
g

l 4M
M l
2
g
k1
l 4M
k1
k1
l
2
assumed to be small!
Mg
(ii) After the impact, the total mass of the system will be M+m,
g
k1
The new natural frequency is: n

l 4 M m
Lecture Part 2 L3
13/26

Recall the general solution in this case,
0
t 0 cos n t
sin n t
n
Conservation of momentum:
l/2
k1
m
l
v0
m v0 M m v1 v1
M m
m v0
v1
0
and 0 0
0
M m l
l
v0
m
v1
M
0
t
sin n t
t=0
n
g
m v0
k1
t
sin
t #
g
k1
l 4 M m
M m
l 4 M m
Lecture Part 2 L3
14/26

Ex 3 -The crate, of mass m=250kg, hangs from a helicopter using

steel cables as shown. Determine the equivalent stiffness of the
crate-cable system and compute its natural frequency n .
The cross-sectional area A of the cables selected is A=1.9mm2. If
the rotor blades of the helicopter rotate at 300rpm, comment on
the choice of the cables and how to improve the situation.
Lecture Part 2 L3
15/26

AD 0.5 2 0.5 2 0.7071m

2
OD 2 0.7071 2.1213m
Stiffnesses of cable segments:
EA
207 10 9 1.9 10 6
k PO
393300 N / m
l PO
1
EA
207 10 1.9 10
k OD
lOD
2.1213
Lecture Part 2 L3
16/26
185405 N / m

Vertical Stiffness:
Imagine a force F is applied, the
spring force becomes,
Fs F / cos
Imagine the tip of the spring

moves upward by , the actual
elongation of the spring becomes,
Fs
N
s cos
Vertical stiffness ky by definition,
Fs cos
F
ky
s / cos
Fs
2
2
cos k s cos
s
Lecture Part 2 L3
17/26

Why s cos ?
2
l0 a b ,
l a b
2
s a2 b 2 a2 b2
2
a b 2b a b
2
2
b
a 2 b2 1 2
1
2
2
b
2
2
a b 1
1
2
2
2
a
cos
a2 b2
Lecture Part 2 L3
18/26
b
a

AD 0.707
tg
19.468 o
OA
2
k y k s cos2 kOD cos2 19.468o

185405 cos2 19.468o 164811 N / m
The total stiffness of the 4 springs in parallel:
k yt 4 k y 4 164811 659244 N / m
kPO and kyt in series, the total equivalent stiffness becomes
k eq
k yt k PO
k yt k PO
Lecture Part 2 L3
19/26
659244 393300
246337 N / m
659244 393300

The natural frequency becomes,
keq
m
246337
31.39 rad / s
250
The rotor passing frequency:
300 / 60 2 10 31.415 rad / s

The rotor speed is too close to the natural frequency of the cratecable system, there will be a lot of vibration generated for the
crate-cable system, severely interfering the operation of the
system. To improve the situation, the natural frequency of the
crate-cable system should be raised and one way of achieving this
is to increase the cable cross-sectional area A.
Lecture Part 2 L3
20/26

Ex 3** A block of mass M moves on an ideal frictionless

surface. A pendulum is attached to the block through a
massless link as shown. Determine the natural frequency of
vibration of the system.
This is a difficult problem. We first of all
need to establish the EOM. Consider first
the conservation of linear momentum in x
direction for the system.
The x direction velocity
component of the pendulum
is,
v px x l cos
Lecture Part 2 L3
21/26
l
x

Assume very small as usual (sin=, cos=1), we have,
v px x l cos x l
Apply conservation of linear momentum in x direction:
Mx mv px 0
Lecture Part 2 L3
22/26
Mx mx m l 0
M m x m l
M m x m l
ml
x
M m
(1)

Fix a translational reference on M, then

the acceleration of the pendulum has 3
components relative acceleration x ,
tangential acceleration l , and normal 2
l l
acceleration 2l as shown.
On the other hand, the pendulum is
subjected 2 forces, mg and T .
x
et
Tangential acceleration component,
a pt x cos l
Tangential component of force,
Fpt mg sin
et T
mg
Lecture Part 2 L3
23/26

Apply Newtons 2nd Law in tangential

direction, we have
Fpt ma pt
mg sin m x cos l
g sin x cos l
l 2l
x
Again since is assumed small, we have,
g x l
(2)
ml
g
l
M m
Ml
g 0
M m
M m g
n
M l
Lecture Part 2 L3
24/26
et
x
(3)
(4)
et T
(5)
mg

SUMMARY of SDOF Free Vibration
Equation of Motion
m x kx 0
2
x n x 0
T
Natural Frequency of Vibration
k
n
rad / s
m
1
fn
2
Natural Period of Vibration

Lecture Part 2 L3
25/26
k
Hz
m
1 2
T
f n n

General solution for free vibrations given x 0 , x 0
A x0
x 0
x t x0 cos n t
sin n t
n
x 0
B
n
(2)
Alternatively,
x t X sin n t
X
Lecture Part 2 L3
26/26
2
x0
x 0
(3)
x0n
tan
x 0
1

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SCHOOL OF MECHANICAL AND

Free Vibration of SDOF Systems

(b) The Space Needle

Free Vibration of Undamped SDOF Systems

Tuesday, August 18, 2015

SCHOOL OF MECHANICAL AND

Free Vibration of A System

Free Vibration of Undamped SDOF Systems

Tuesday, August 18, 2015

SCHOOL OF MECHANICAL AND

Typical Response of Free Vibration (Undamped)

Natural Frequency of Vibration

For an SDOF system of mass m and stiffness k, its

Free Vibration of Undamped SDOF Systems

Tuesday, August 18, 2015

SCHOOL OF MECHANICAL AND

Derivation of Free Vibration Response

Free Vibration of Undamped SDOF Systems

Tuesday, August 18, 2015

SCHOOL OF MECHANICAL AND

From Math Course, general solution of (1) becomes,

A, B constants to be determined from initial conditions.

Free Vibration of Undamped SDOF Systems

Tuesday, August 18, 2015

SCHOOL OF MECHANICAL AND

Determine A, B from given initial conditions:

The final solution becomes,

Free Vibration of Undamped SDOF Systems

Tuesday, August 18, 2015

SCHOOL OF MECHANICAL AND

Alternative form of Solution:

Free Vibration of Undamped SDOF Systems

Tuesday, August 18, 2015

SCHOOL OF MECHANICAL AND

a sin t b cos t a 2 b 2 cos sin t sin cos t

Free Vibration of Undamped SDOF Systems

Tuesday, August 18, 2015

SCHOOL OF MECHANICAL AND

Ex 1 The column of water tank shown is 100m high

Free Vibration of Undamped SDOF Systems

Tuesday, August 18, 2015

SCHOOL OF MECHANICAL AND

As far as transverse vibration is concerned, the tank

(i) The natural frequency becomes,

(ii) Initial conditions are:

Free Vibration of Undamped SDOF Systems

SCHOOL OF MECHANICAL AND

x 0.5 sin 0.8 t

x 0.5 cos 0.8 t #

Free Vibration of Undamped SDOF Systems

Tuesday, August 18, 2015

SCHOOL OF MECHANICAL AND

Ex 2 A pendulum is shown with the link

Free Vibration of Undamped SDOF Systems

Tuesday, August 18, 2015

SCHOOL OF MECHANICAL AND

The new natural frequency is: n

Free Vibration of Undamped SDOF Systems

Tuesday, August 18, 2015

SCHOOL OF MECHANICAL AND

Recall the general solution in this case,

Free Vibration of Undamped SDOF Systems

Tuesday, August 18, 2015

SCHOOL OF MECHANICAL AND