UNIT– V BALANCING AND VIBRATION

5.1 INTRODUCTION:

Balancing is the process of eliminating or at least reducing the ground forces and/or
moments. It is achieved by changing the location of the mass centres of links. Balancing of
rotating parts is a well known problem. A rotating body with fixed rotation axis can be fully
balanced i.e. all the inertia forces and moments. For mechanism containing links rotating about
axis which are not fixed, force balancing is possible, moment balancing by itself may be possible,
but both not possible. We generally try to do force balancing. A fully force balance is possible,
but any action in force balancing severe the moment balancing.

2.2 BALANCING OF ROTATING MASSES:

The process of providing the second mass in order to counteract the effect of the
centrifugal force of the first mass is called balancing of rotating masses.

2.2.1 Static balancing:

The net dynamic force acting on the shaft is equal to zero. This requires that the line of
action of three centrifugal forces must be the same. In other words, the centre of the masses of the
system must lie on the axis of the rotation. This is the condition for static balancing.

2.2.2 Dynamic balancing:

The net couple due to dynamic forces acting on the shaft is equal to zero. The algebraic
sum of the moments about any point in the plane must be zero.

2.2.3 Various cases of balancing of rotating masses:

Balancing of a single rotating mass by single mass rotating in the same plane.
Balancing of a single rotating mass by two masses rotating in the different plane.
Balancing of a several masses rotating in single plane.
Balancing of a several masses rotating in different planes.
2.3 BALANCING OF A SINGLE ROTATING MASS BY SINGLE MASS
ROTATING IN THE SAME PLANE:
2.4 BALANCING OF A SINGLE ROTATING MASS BY TWO MASSES
ROTATING IN THE DIFFERENT PLANE:
2.6 BALANCING OF SEVERAL MASSES ROTATING DIFFERENT PLANE:
 2.7 BALANCING OF RECIPROCATING MASSES:

Mass balancing encompasses a wide array of measures employed to obtain partial or

complete compensation for the inertial forces and moments of inertia emanating from the
crankshaft assembly. All masses are externally balanced when no free inertial forces or moments
of inertia are transmitted through the block to the outside. However, the remaining internal forces
and moments subject the engine mounts and block to various loads as well as deformities and
vibratory stresses. The basic loads imposed by gas-based and inertial forces
2.7.1 Primary and secondary unbalanced forces of reciprocating parts:

2.8 BALANCING OF SINGLE CYLINDER ENGINE:

 A single cylinder engine produces three main vibrations. In describing them we will assume
that the cylinder is vertical. Firstly, in an engine with no balancing counterweights, there would be an
enormous vibration produced by the change in momentum of the piston, gudgeon pin, connecting rod
and crankshaft once every revolution. Nearly all single-cylinder crankshafts incorporate balancing
weights to reduce this. While these weights can balance the crankshaft completely, they cannot
completely balance the motion of the piston, for two reasons. The first reason is that the balancing
weights have horizontal motion as well as vertical motion, so balancing the purely vertical motion of
the piston by a crankshaft weight adds a horizontal vibration. The second reason is that, considering
now the vertical motion only, the smaller piston end of the connecting rod (little end) is closer to the
larger crankshaft end (big end) of the connecting rod in mid-stroke than it is at the top or bottom of the
stroke, because of the connecting rod's angle. So during the 180° rotation from mid-stroke through
top-dead-center and back to mid-stroke the minor contribution to the piston's up/down movement from
the connecting rod's change of angle has the same direction as the major contribution to the piston's
up/down movement from the up/down movement of the crank pin. By contrast, during the 180°
rotation from mid-stroke through bottom-dead-center and back to mid-stroke the minor contribution to
the piston's up/down movement from the connecting rod's change of angle has the opposite direction
of the major contribution to the piston's up/down movement from the up/down movement of the crank
pin. The piston therefore travels faster in the top half of the cylinder than it does in the bottom half,
while the motion of the crankshaft weights is sinusoidal. The vertical motion of the piston is therefore
not quite the same as that of the balancing weight, so they can't be made to cancel out completely.

Secondly, there is a vibration produced by the change in speed and therefore kinetic
energy of the piston. The crankshaft will tend to slow down as the piston speeds up and absorbs
energy, and to speed up again as the piston gives up energy in slowing down at the top and bottom
of the stroke. This vibration has twice the frequency of the first vibration, and absorbing it is one
function of the flywheel.

Thirdly, there is a vibration produced by the fact that the engine is only producing power
during the power stroke. In a four-stroke engine this vibration will have half the frequency of the
first vibration, as the cylinder fires once every two revolutions. In a two-stroke engine, it will have
the same frequency as the first vibration. This vibration is also absorbed by the flywheel.

2.9 BALANCING OF INERTIAL FORCES IN THE MULTI-CYLINDER ENGINE:

In multi-cylinder engines the mutual counteractions of the various components in the Crank
shaft assembly are one of the essential factors determining the selection of the Crank shafts
configuration and with it the design of the engine itself. The inertial forces are Balanced if the
common centre of gravity for all moving crankshaft-assembly components lies at the crankshaft's
midpoint, i.e. if the crankshaft is symmetrical (as viewed from the front). The crankshaft's symmetry
level can be defined using geometrical representations of 1st- and 2ndorder forces (star diagrams). The
2nd order star diagram for the four-cylinder in-line engine is asymmetrical, meaning that this order is
characterized by substantial free inertial Forces. These forces can be balanced using two countershafts
rotating in opposite directions at double the rate of the crankshaft (Lanchester system).

2.10 PARTIAL BALANCING OF LOCOMOTIVES:

2.10.1 Variation of Tractive force:

The resultant unbalanced force due to the cylinders, along the line of stroke, is known as
tractive force.
2.10.2 Swaying Couple:

The couple has swaying effect about a vertical axis, and tends to sway the engine alternately in
clock wise and anticlockwise directions. Hence the couple is known as swaying couple.
2.10.3 Hammer blow:

The maximum magnitude of the unbalanced force along the perpendicular to the line of
stroke is known as Hammer blow.
2.11 BALANCING OF INLINE ENGINES:

An in-line engine is one wherein all the cylinders are arranged in a single line, one behind
the other as schematically indicated in Fig. Many of the passenger cars found on Indian roads such
as Maruti 800, Zen, Santro, Honda City, Honda CR-V, and Toyota Corolla all have four cylinder
in-line engines. Thus this is a commonly employed engine and it is of interest to us to understand
the analysis of its state of balance.
For the sake of simplicity of analysis, we assume that all the cylinders are identical viz., r, , and
are same. Further we assume that the rotating masses have been balanced out for all
cylinders and we are left with only the forces due to the reciprocating masses.

2.12 BALANCING OF RADIAL ENGINES:

A radial engine is one in which all the cylinders are arranged circumferentially as shown in
Fig.These engines were quite popularly used in aircrafts during World War II. Subsequent
developments in steam/gas turbines led to the near extinction of these engines. However it is still
interesting to study their state of balance in view of some elegant results we shall discuss shortly.
Our method of analysis remains identical to the previous case i.e., we proceed with the

assumption that all cylinders are identical and the cylinders are spaced at uniform interval
around the circumference.
 2.13 SOLVED PROBLEMS

A shaft has three eccentrics, each 75 mm diameter and 25 mm thick, machined in one piece with
the shaft. The central planes of the eccentric are 60 mm apart. The distance of the centres from the
axis of rotation are 12 mm, 18 mm and 12 mm and their angular positions are 120° apart. The
3
density of metal is 7000 kg/m . Find the amount of out-of-balance force and couple at
r.p.m. If the shaft is balanced by adding two masses at a radius 75 mm and at distances of
mm from the central plane of the middle eccentric, find the amount of the masses and their
angular positions. (AU-MAY/JUNE-2013)

Let L and M be the planes at distances of 100 mm from the central plane of middle eccentric. The
position of the planes and the angular position of the three eccentrics is shown in Fig. 21.12 (a) and (b)
respectively. Assuming L as the reference plane and mass of the eccentric A in the vertical direction,
the data may be tabulated as below :

Since the centrifugal force is proportional to the product of mass and radius (i.e. m.r), therefore
by measurement.
 3
–
Out-of-balance force = vector oc = 4.75 × 10 kg-m

= 4.75 × 10–3 × ω 2 = 4.75 × 10–3 (62.84)2 = 18.76 N Ans.

Out-of-balance couple
The out-of-balance couple is obtained by drawing the couple polygon from the data given in Table 21.6 (column
6), as shown in Fig. 21.12 (d). The resultant o ′ c′ represents the out-ofbalance couple. Since the couple is
proportional to the product of force and distance (m.r.l), there-fore by measurement,

Amount of balancing masses and their angular positions

The vector c ′ o′ (in the direction from c′ to o′ ), as shown in Fig. 21.12 (d)
3
–
represents the balancing couple and is proportional to 15 × 10 mM, i.e.

15 × 10–3 mM = vector c ′ o′ = 1.1 × 10–3 kg-

m2 or mM = 0.073 kg Ans.
Draw OM in Fig. 21.12 (b) parallel to vector c ′ o′ . By measurement, we find that the
angular position of balancing mass (mM) is 5° from mass A in the clockwise direction. Ans.
In order to find the balancing mass (mL), a force polygon as shown in Fig. 21.12 (e) is drawn.
The closing side of the polygon i.e. vector do (in the direction from d to o) represents the balancing
3
– force and is proportional to 75 ×
10 mL. By measurement, we find that,
–3 –3
75×10 mL = vector do = 5.2 ×10 kg-m or mL = 0.0693 kg Ans.
Draw OL in Fig. 21.12 (b), parallel to vector do.
By measurement, we find that the angular position of mass (mL) is 124° from mass A in the
clockwise direction. Ans.
 2.(i) A, B, C and D are four masses carried by a rotating shaft at radii 100, 125, 200 and 150
respectively. The planes in which the masses revolve are spaced 600 mm apart and the mass
of B, C and D are 10 kg, 5 kg, and 4 kg respectively.Find the required mass A and the relative
angular settings of the four masses so that the shaft shall be in complete balance.
(AU-NOV/DEC-2012) (8)
Solution. Given : rA = 100 mm = 0.1 m ; rB = 125 mm = 0.125 m ; rC = 200 mm = 0.2 m ; rD =
150 mm = 0.15 m ; mB = 10 kg ; mC = 5 kg ; mD = 4 kg
The position of planes is shown in Fig. 21.10 (a). Assuming the plane of mass A as the
reference plane (R.P.), the data may be tabulated as below :

First of all, the angular setting of masses C and D is obtained by drawing the couple polygon from
the data given in Table 21.4 (column 6). Assume the position of mass B in the horizontal direction OB as
shown in Fig. 21.10 (b). Now the couple polygon as shown in Fig.(c) is drawn as discussed below :
1. Draw vector o′ b′ in the horizontal direction (i.e. parallel to OB) and equal to 0.75
2
kgm , to some
suitable scale.

2. From points o′ and b′ , draw vectors o′ c′ and b′ c′ equal to 1.2 kg-m2 and
1.08 kg-m2
respectively. These vectors intersect at c′ .

3. Now in Fig. 21.10 (b), draw OC parallel to vector o′ c′ and OD parallel to vector b′
c′ . By measurement, we find that the angular setting of mass C from mass B in the
anticlockwise
direction, i.e. ∠ BOC = 240° Ans.
and angular setting of mass D from mass B in the anticlockwise direction, i.e. ∠ BOD = 100°

Ans.
In order to find the required mass A (mA) and its angular setting, draw the force polygon to
some suitable scale, as shown in Fig. 21.10 (d), from the data given in Table 21.4 (column 4).
Since the closing side of the force polygon (vector do) is proportional to 0.1 mA, therefore by

measurement,

0.1 m = 0.7 kg-m2 or mA= 7 kg Ans.

 Now draw OA in Fig. 21.10 (b ), parallel to vector do. By measurement, we find that the angular
setting of mass A from mass B in the anticlockwise direction, i.e.
BOA = 155° Ans.

All dimension s in mm
(a) Po sition of planes. (b) Angular po sition of masses.

(c) Couple polygon. (d) Force polygon.

Fig. 21.10

2(ii) Derives the expressions for the following: (i) Variation in tractive force and (ii) Swaying couple.
(8) (AU-NOV/DEC-2009)
Variation in tractive force
The resultant unbalanced force due to the two cylinders, along the line of stroke, is known as
tractive force. Let the crank for the first cylinder be inclined at an angle θ with the line of stroke, as
shown in Fig. 22.4.
Since the crank for the second cylinder is at right angle to the first crank, therefore the angle of
inclination for the second crank will be (90° + θ ).
Let m = Mass of the reciprocating parts per cylinder, and c
= Fraction of the reciprocating parts to be balanced.
We know that unbalanced force along the line of stroke for cylinder 1

Sw aying coup le.

The unbalanced forces along the line of stroke for the two cylinders constitute a couple
about the centre line YY between the cylinders as shown in Fig. 22.5.
This couple has swaying effect about a vertical axis, and tends to sway the engine alternately in
clockwise and anticlockwise directions. Hence the couple is known as swaying couple. a = Distance
between the centre lines of the two cylinders.

A shaft carries four masses A, B, C and D of magnitude 200 kg, 300 kg, 400 kg and 200 kg
respectively and revolving at radii 80 mm, 70 mm, 60 mm and 80 mm in planes measured from A
at 300 mm, 400 mm and 700 mm. The angles between the cranks measured anticlockwise are A
to B 45°, B to C 70° and C to D 120°. The balancing masses are to be placed in planes X and Y.
The distance between the planes A and X is 100 mm, between X and Y is 400 mm and between Y
and D is 200 mm. If the balancing masses revolve at a radius of 100 mm, find their magnitudes
and angular positions. (AU-MAY/JUNE-2012)
Solution. Given : mA = 200 kg ; mB = 300 kg ; mC = 400 kg ; mD = 200 kg ; rA = 80 mm =0.08m
;
rB = 70 mm = 0.07 m ; rC = 60 mm = 0.06 m ; rD = 80 mm = 0.08 m ; rX = rY = 100 mm = 0.1
m Let mX = Balancing mass placed in plane X, and mY = Balancing mass placed in
plane Y.
The position of planes and angular position of the masses (assuming the mass A as horizontal)
are shown in Fig. 21.8 (a) and (b) respectively.
Assume the plane X as the reference plane (R.P.). The distances of the planes to the right of
plane X are taken as + ve while the distances of the planes to the left of plane X are taken as – ve. The
data may be tabulated as shown in Table 21.2.

The balancing masses mX and mY and their angular positions may be determined graphi-
cally as discussed below :

First of all, draw the couple polygon from the data given in Table 21.2 (column 6) as shown in
Fig. 21.8 (c) to some suitable scale. The vector d ′ o′ represents the balanced couple. Since the
 balanced couple is
proportional to 0.04 m , therefore by measurement,

The angular position of the mass mY is obtained by drawing OmY in Fig. 21.8 (b), parallel to vector d ′
o′ . By measurement, the angular position of mY is θ Y 12 in the clockwise direction from mass mA
(i.e. 200 kg ). Ans.
Now draw the force polygon from the data given in Table 21.2 (column 4) as shown in Fig. 21.8
(d). The vector eo represents the balanced force. Since the balanced force is proportional to 0.1
mX, therefore by measurement,

0.1 mX vector eo 35.5 kg-m or mX = 355 kg Ans.

The angular position of the mass mX is obtained by drawing OmX in Fig. 21.8 (b), parallel to vector eo.
By measurement, the angular position of mX is θ X 145 in the clockwise direction from mass mA (i.e.
200 kg ). Ans.

4. Four masses A, B, C and D as shown below are to be completely balanced.

A B C D
Mass (kg) — 30 50 40
Radius 180 240 120 150
(mm)
 The planes containing masses B and C are 300 mm apart. The angle between planes containing
B and C is 90°. B and C make angles of 210° and 120° respectively with D in the same sense.
Find :
The magnitude and the angular position of mass A ; and
The position of planes A and D. (AU-NOV/DEC-2011)
Solution. Given : rA = 180 mm = 0.18 m ; mB = 30 kg ; rB = 240 mm = 0.24 m
; mC = 50 kg ; rC = 120 mm = 0.12 m ; mD = 40 kg ; rD = 150 mm = 0.15 m ;
∠ BOC=90°;∠ BOD=210°;∠ COD=
120°
The magnitude and the angular position of mass A
Let mA = Magnitude of Mass A,
x = Distance between the planes B and D, and y = Distance between the planes A and B. The
position of the planes and the angular position of the masses is shown in Fig. 21.9 (a) and (b)
respectively.
Assuming the plane B as the reference plane (R.P.) and the mass B (mB) along the horizon-tal line
as shown in Fig. 21.9 (b), the data may be tabulated as below :

The magnitude and angular position of mass A may be determined by drawing the force polygon from
the data given in Table 21.3 (Column 4), as shown in Fig. 21.9 (c), to some suitable scale. Since the
masses are to be completely balanced, therefore the force polygon must be a closed figure. The closing
side (i.e. vector do) is proportional to 0.18 mA. By measurement,
0.18 mA = Vector do = 3.6 kg-m or mA = 20 kg Ans.
In order to find the angular position of mass A, draw OA in Fig. 21.9 (b) parallel to vector do. By
measurement, we find that the angular position of mass A from mass B in the anticlockwise direction is
AOB = 236° Ans.
 (a) P osition of pl a n e s. ( b ) A n g ul a r position of m a ss e s .

All dim ensions in mm.

( c ) F o r c e po l ygon. ( d ) Couple po l ygon.

Fi g . 2 1 .9 .

Position of planes A and D

The position of planes A and D may be obtained by drawing the couple polygon, as shown in
Fig. 21.9 (d), from the data given in Table 21.3 (column 6). The couple polygon is drawn as discussed
below :

Draw vector o′ c′parallel to OC and equal to 1.8 kg-m2, to some suitable scale.

From points c′ and o′ , draw lines parallel to OD and OA respectively, such that they intersect at
point d′ . By measurement, we find that

6 x = vector c′ d′ = 2.3 kg-m2 or x = 0.383 m

We see from the couple polygon that the direction of vector c ′ d′ is opposite to the
direction of mass D. Therefore the plane of mass D is 0.383 m or 383 mm towards left of plane B
and not towards right of plane B as already assumed. Ans. Again by measurement from couple
polygon,

– 0.18 mA.y = vector o′ d′ = 3.6 kg-m2

– 0.18 × 20 y = 3.6 or y = – 1 m
The negative sign indicates that the plane A is not towards left of B as assumed but it is 1 m or
1000 mm towards right of plane B. Ans.
An inside cylinder locomotive has its cylinder centre lines 0.7 m apart and has a stroke
of 0.6 m. The rotating masses per cylinder are equivalent to 150 kg at the crank pin, and the
reciprocating masses per cylinder to 180 kg. The wheel centre lines are 1.5 m apart. The cranks
are at right angles.
The whole of the rotating and 2/3 of the recipro-cating masses are to be balanced by
masses placed at a radius of 0.6 m. Find the magnitude and direction of the balancing masses.
 Find the fluctuation in rail pressure under one wheel, variation of tractive effort and the
magnitude of swaying couple at a crank speed of 300 r.p.m. (AU-NOV/DEC-2008) Solution.
Given : a = 0.7 m; lB = lC = 0.6 m or
rB = rC = 0.3 m; m1 = 150 kg; m2 = 180 kg; c = 2/3; rA = rD = 0.6 m; N = 300 r.p.m. or
ω 2 300 / 60 = 31.42 rad/s
We know that the equivalent mass of the rotating parts to be balanced per cylinder at the crank
pin,
m = mB = mC = m1 + c.m2 = 150 + × 180 = 270 kg

Magnitude and direction of the balancing masses Let mA and mD = Magnitude of the
balancing masses θ A and θ D = Angular position of the balancing masses mA and mD
from the first crank B.

The magnitude and direction of the balancing masses may be determined graphically as
discussed below :
First of all, draw the space diagram to show the positions of the planes of the wheels and the
cylinders, as shown in Fig. 22.7 (a). Since the cranks of the cylinders are at right angles,
therefore assuming the position of crank of the cylinder B in the horizontal direc-tion, draw OC
and OB at right angles to each other as shown in Fig. 22.7 (b).
Tabulate the data as given in the following table. Assume the plane of wheel A as the reference plane.

Now, draw the couple polygon from the data given in Table 22.1 (column 6), to
some suitable
scale, as shown in Fig 22.7 (c). The closing side c ′o′ represents the balancing couple
and it is proportional to 0.9 mD. Therefore, by measurement,
 To determine the angular position of the balancing mass D, draw OD in Fig. 22.7 (b)
parallel to vector c ′ o′ . By measurement,

D= 250°
Ans.
In order to find the balancing mass A, draw the force polygon from the data given in
Table 22.1 (column 4), to some suitable scale, as shown in Fig. 22.7 (d), The vector do
represents the balancing force and it is proportional to 0.6 mA. Therefore by measurement,
0.6mA = vector do = 63 kg-m or mA = 105 kg Ans.
To determine the angular position of the balancing mass A, draw OA in Fig. 22.7 (b)
parallel to vector do. By measurement,
A= 200°
Ans.
Fluctuation in rail pressure
We know that each balancing mass105 kg
Balancing mass for rotating masses,

Variation of tractive effort

We know that maximum variation of tractive effort
,

Swaying couple
We know that maximum swaying couple

The following data apply to an outside cylinder uncoupled locomotive :

Mass of rotating parts per cylinder = 360 kg ; Mass of reciprocating parts per cylinder = 300 kg ;
Angle between cranks = 90° ; Crank radius = 0.3 m ; Cylinder centres = 1.75 m ; Radius of
balance masses = 0.75 m ; Wheel centres = 1.45 m. If whole of the rotating and two-thirds of
reciprocating parts are to be balanced in planes of the driving wheels, find :
1.Magnitude and angular positions of balance masses,
2.Speed in kilometres per hour at which the wheel will lift off the rails when the load on
each driving wheel is 30 kN and the diameter of tread of driving wheels is 1.8 m, and
3.Swaying couple at speed arrived at in (2) above. (AU-NOV/DEC-2013) Solution : Given
m1 = 360 kg ; m2 = 300 kg ; ∠ AOD = 90° ; rA = rD = 0.3 m ; a = 1.75 m ; rB

rC = 0.75 m ; c = 2 / 3.
We know that the equivalent mass of the rotating parts to be balanced per cylinder,

Magnitude and angular position of balance masses

Let mB and mC = Magnitude of the balance masses, and
B and θ C = angular position of the balance masses mB and mC from the crank A.

The magnitude and direction of the balance masses may be determined, graphically, as
discussed below :
First of all, draw the positions of the planes of the wheels and the cylinders as shown in Fig.
22.11 (a). Since the cranks of the two cylinders are at right angles, therefore assum-ing the
position of the cylinder A in the horizontal direction, draw OA and OD at right angles to each
other as shown in Fig. 22.11 (b).
 Assuming the plane of wheel B as the reference plane, the data may be tabulated as be-low:
Now draw the couple polygon with the data given in Table 22.4 column (6), to some suitable scale
as shown in Fig. 22.11(c). The closing side d ′ o′ represents thebalancing couple and it is
proportional to 1.08 mC. Therefore, by measurement,

4. To determine the angular position of the balancing mass C, draw OC parallel to vector d′ o

′ as shown in Fig. 22.11 (b). By measurement, θ C= 275° Ans.

In order to find the balancing mass B, draw the force polygon with the data given in Tablecolumn
(4), to some suitable scale, as shown in Fig. 22.11 (d). The vector co represents the balancing
force and it is proportional to 0.75 mB. Therefore, by measurement, 0.75 mB =
186.75 kg-m or mB = 249 kg Ans.
To determine the angular position of the balancing mass B, draw OB parallel to vector oc as shown
Fig. 22.11 (b). By measurement, θ B = 174.5° Ans.

Speed at which the wheel will lift off the rails

Given : P = 30 kN = 30 × 103 N ; D = 1.8 m

Let ω = Angular speed at which the wheels will lift off the
rails in rad/s, and v = Corresponding linear speed in km/h.
We know that each balancing mass, mB = mC = 249 kg
Balancing mass for reciprocating parts,
VIBRATION
3.1 INTRODUCTION:
When a system is subjected to an initial disturbance and then left free to vibrate on its
own, the resulting vibrations are referred to as free vibrations .Free vibration occurs when a
mechanical system is set off with an initial input and then allowed to vibrate freely. Examples of
this type of vibration are pulling a child back on a swing and then letting go or hitting a tuning
fork and letting it ring. The mechanical system will then vibrate at one or more of its "natural
frequencies" and damp down to zero.

3.2 BASIC ELEMENTS OF VIBRATION SYSTEM:

Mass or Inertia

Springiness or Restoring element

Dissipative element (often called damper) External

excitation

3.3 CAUSES OF VIBRATION:

Unbalance: This is basically in reference to the rotating bodies. The uneven distribution
of mass in a rotating body contributes to the unbalance. A good example of unbalance related
vibration would be the ―vibrating alert‖ in our mobile phones. Here a small
amount of
unbalanced weight is rotated by a motor causing the vibration which makes the mobile phone to
vibrate. You would have experienced the same sort of vibration occurring in your front loaded
washing machines that tend to vibrate during the ―spinning‖ mode.

Misalignment: This is an other major cause of vibration particularly in machines that are
driven by motors or any other prime movers.

Bent Shaft: A rotating shaft that is bent also produces the the vibrating effect since it losses
it rotation capability about its center.

Gears in the machine: The gears in the machine always tend to produce vibration,
mainly due to their meshing. Though this may be controlled to some extent, any problem in the
gearbox tends to get enhanced with ease.

Bearings: Last but not the least, here is a major contributor for vibration. In majority of the
cases every initial problem starts in the bearings and propagates to the rest of the members of the
machine. A bearing devoid of lubrication tends to wear out fast and fails quickly, but before this is
noticed it damages the remaining components in the machine and an initial look would seem as if
something had gone wrong with the other components leading to the bearing failure.

3.3.1 Effects of vibration:

(a)Bad Effects:
The presence of vibration in any mechanical system produces unwanted noise, high
stresses, poor reliability, wear and premature failure of parts. Vibrations are a great source of
human discomfort in the form of physical and mental strains.

(b)Good Effects:
A vibration does useful work in musical instruments, vibrating screens, shakers, relive
pain in physiotherapy.

3.4 METHODS OF REDUCTION OF VIBRATION:

-unbalance is its main cause, so balancing of parts is necessary.

-using shock absorbers.
-using dynamic vibration absorbers.
-providing the screens (if noise is to be reduced)

3.5 TYPES OF VIBRATORY MOTION:

Free Vibration
Forced Vibration

3.6 TERMS USED VIBRATORY MOTION:

(a)Time period (or)period of vibration:

It is the time taken by a vibrating body to repeat the motion itself.time period is usually
expressed in seconds.

(b) Cycle:
It is the motion completed in one time period.

(c) Periodic motion:

A motion which repeats itself after equal interval of time.
(d)Amplitude (X)
The maximum displacement of a vibrating body from the mean position.it is usually
expressed in millimeter.

(e) Frequency (f)

The number of cycles completed in one second is called frequency
3.7 DEGREES OF FREEDOM:

The minimum number of independent coordinates required to specify the motion of a

system at any instant is known as D.O.F of the system.

3.7.1 Single degree of freedom system:

The system shown in this figure is what is known as a Single Degree of Freedom system.
We use the term degree of freedom to refer to the number of coordinates that are required to
specify completely the configuration of the system. Here, if the position of the mass of the system
is specified then accordingly the position of the spring and damper are also identified. Thus we
need just one coordinate (that of the mass) to specify the system completely and hence it is
known as a single degree of freedom system.

3.7.2 Two degree of freedom system:

 A two degree of freedom system With reference to automobile applications, this is referred as
―quarter car‖ model. The bottom mass refers to mass of axle, wheel etc
components which are
below the suspension spring and the top mass refers to the mass of the portion of the car and
passenger. Since we need to specify both the top and bottom mass positions to completely
specify the system, this becomes a two degree of freedom system.

3.8 TYPES OF VIBRATORY MOTION:

Types of Vibration:

(a)Longitudinal vibration (b)Transverse Vibration ( c)Torsional Vibration.

Longitudinal Vibration:
 When the particles of the shaft or disc moves parallel to the axis of the shaft, then the
vibrations known as longitudinal vibrations.

Free undamped longitudinal vibrations;

When a body is allowed to vibrate on its own, after giving it an initial displacement, then
the ensuring vibrations are known as free or natural vibrations. When the vibrations take place
parallel to the axis of constraint and no damping is provided, then it is called free undamped
longitudinal vibrations.

3.9 NATURAL FREQUENCY OF FREE UNDAMPED LONGITUDINAL VIBRATION:

3.9.1 Eq u ilib riu m m et h od or Newt on ’ s met h od :

3.9.2 Energy Method
In free vibrations, no energy is transferred into the system or from the system. Therefore,
the total energy (sum of KE and PE)is constant and is same all the times.
3.9.3 Rayleigh’s method
In this method, the maximum kinetic energy at mean position is made equal to the maximum
potential energy at the extreme position.

3.10 EQUIVALENT STIFFNESS OF SPRING.

Springs in series
Springs in parallel
Combined springs
Inclined springs
3.11 DAMPING:
It is the resistance to the motion of a vibrating body. The vibrations associated with this resistance
are known as damped vibrations.

3.11.1 Types of damping:

Viscous damping
Dry friction or coulomb damping (3) Solid damping or structural
damping
Slip or interfacial damping.
3.11.2 Damping Coefficient:
 The damping force per unit velocity is known as damping coefficient.

3.11.3 Equivalent damping coefficient:

Dampers may be connected either in series or in parallel to provide required damping.

3.12 DAMPED VIBRATION:

The vibrations associated with this resistance are known as damped vibrations.

3.12.1 Damping factor:

Damping factor can be defined as the ratio of actual damping coefficient to critical damping
coefficient.

Thus mainly three cases arise depending on the value of

When the system undergoes aperiodically decaying motion and hence such systems are said to be
Overdamped Systems.

An example of such a system is a door damper – when we open a door and enter a room, we want the door to
gradually close rather than exhibit oscillatory motion and bang into the person entering the room behind
us! So the damper is designed such that
Critically damped motion ( a hypothetical borderline case separating oscillatory decay from a periodic
decay) I the fastest decaying aperiodic motion.
 When ― < 1‖, x(t) is a damped sinusoid and the system exhibits a vibratory motion whose
amplitude keeps diminishing. This is the most common vibration case and we will spend most of our time
studying such systems. These are referred to as Underdamped systems.

3.12.2 Logarithmic decrement:

It is defined as the natural logarithm of ratio of any two successive amplitudes of

an under damped system. It is a dimensionless quantity.

We define Damping factoras

3.13 TRANSVERSE VIBRATION:

When the particles of the shaft or disc moves approximately perpendicular to the axis of the
shaft, then the vibrations known as transverse vibrations.
3.13.1 Whirling speed of shaft:

The speed, at which the shaft runs so that the additional deflection of the shaft from the axis
of rotation becomes infinite, is known as critical or whirling speed.
No shaft can ever be perfectly straight or perfectly balanced. When an element of mass is a distance
from the axis of rotation, centrifugal force, will tend to pull the mass outward. The elastic

properties of the shaft will act to restore the ―straightness‖. If the frequency of
rotation is
equal to one of the resonant frequencies of the shaft, whirling will occur. In order to save the machine
from failure, operation at such whirling speeds must be avoided.

The whirling frequency of a symmetric cross section of a given length between two points is given by:

RPM

Where E = young's modulus, I = Second moment of area, m = mass of the shaft, L= length of
the shaft between points

A shaft with weights added will have an angular velocity of N (rpm) equivalent as follows:

3.14 TORSIONAL VIBRATION:

When the particles of the shaft or disc move in a circle about the axis of the shaft, then the
vibrations known as tensional vibration
3.14.1 Torsional vibration of a single rotor system:

3.14.2 Torsional vibration of a two rotor system:

3.14.3 Torsionally equivalent shaft:
3.15 SOLVED ROBLEMS

A machine of mass 75 kg is mounted on springs and is fitted with a dashpot to damp

out
the amplitude of vibration diminishes from 38.4 mm to 6.4 mm in two
oscillations. Assuming that the damping force varies as the velocity, de
resistance of the dash-pot at unit velocity ; 2. vibration to the frequen
undamped vibration ; and 3. damped vibration.

vibrations. There are three springs each of stiffness 10 N/mm and it is found that

1. the
the ratio of the frequency of the damped the periodic time of the

Solution. Given : m = 75 kg ; s = 10 N/mm = 10 ×103 N/m ; x1 = 38.4 mm = 0.0384 m

; x3 = 6.4 mm = 0.0064 m
Since the stiffness of each spring is 10 × 103 N/m and there are 3 springs, therefore
total stiffness,

Resistance of the dashpot at unit velocity

 2. Ratio of the frequency of the damped vibration to the frequency of undamped vibration

2. The mass of a single degree damped vibrating system is 7.5 kg and makes 24 free
oscillations in 14 seconds when disturbed from its equilibrium position. The amplitude of
vibration reduces to 0.25 of its initial value after five oscillations. Determine : 1. stiffness
of the spring, 2. logarithmic decrement, and 3. damping factor, i.e. the ratio of the system
damping to critical damping.
Solution. Given : m = 7.5 kg
Since 24 oscillations are made in 14 seconds, therefore frequency of free vibrations,
3(i) The measurements on a mechanical vibrating system show that it has a mass of 8 kg
and that the springs can be combined to give an equivalent spring of stiffness
5 N/mm. If the vibrating system have a dashpot attached which exerts a force
of when the mass has a velocity of 1 m/s, find : 1. critical damping coefficient,
2. logarithmic decrement, and 4. ratio of two consecutive amplitudes.
damping factor, 3.

Solution. Given : m = 8 kg ; s = 5.4 N/mm = 5400 N/m

Since the force exerted by dashpot is 40 N, and the mass has a velocity of 1 m/s , therefore
Damping coefficient (actual),

c = 40 N/m/s

3 (ii) An instrument vibrates with a frequency of 1 Hz when there is no damping. When the
damping is provided, the frequency of damped vibrations was observed to be 0.9 Hz. Find
1. the damping factor, and 2. logarithmic decrement.

Solution. Given : fn = 1 Hz ; fd = 0.9 Hz

Damping factor
Let m= Mass of the instrument in kg,
c= Damping coefficient or
damping force per unit
velocity in N/m/s, and
cc= Critical damping coefficient
in
N/m/s.
We know that natural circular frequency of undamped vibrations,
 4(i) A coil of spring stiffness 4 N/mm supports vertically a mass of 20 kg at the
free end. The motion is resisted by the oil dashpot. It is found that the amplitude at the
beginning of the fourth cycle is 0.8 times the amplitude of the previous vibration.
Determine the damping force per unit velocity. Also find the ratio of the frequency of
damped and undamped vibrations.
Solution. Given : s = 4 N/mm = 4000 N/m ; m = 20 kg
Damping force per unit velocity
Let c = Damping force in newtons per unit velocity i.e. in N/m/s
xn = Amplitude at the beginning of the third cycle,
xn+1 = Amplitude at the beginning of the fourth cycle = 0.8
xn We know that natural circular frequency of motion,
4(ii) Derive an expression for the natural frequency of single degrees of freedom system.

We know that the kinetic energy is due to the motion of the body and the potential energy
is with respect to a certain datum position which is equal to the amount of work required to move
the body from the datum position. In the case of vibrations, the datum position is the mean or
equilibrium position at which the potential energy of the body or the system is zero.
In the free vibrations, no energy is transferred to the system or from the system.
Therefore the summation of kinetic energy and potential energy must be a constant quantity
which is same at all the times. In other words,

We know that kinetic energy,

Comparing equations,

A vertical shaft of 5 mm diameter is 200 mm long and is supported in long bearings at its
ends. A disc of mass 50 kg is attached to the centre of the shaft. Neglecting any increase in
stiffness due to the attachment of the disc to the shaft, find the critical speed of rotation
and the maximum bending stress when the shaft is rotating at 75% of the critical speed.
The centre of the disc is 0.25 mm from the geometric axis of the shaft. E = 200 GN/m2.
Solution. Given : d = 5 mm = 0.005 m ; l = 200 mm = 0.2 m ; m = 50 kg ; e = 0.25 mm =
0.25 × 10–3 m ; E = 200 GN/m2 = 200 × 109 N/m2
Critical speed of rotation
We know that moment of inertia of the shaft,

Since the shaft is supported in long bearings, it is assumed to be fixed at both ends. We
know that the static deflection at the centre of the shaft due to a mass of 50 kg,

Maximum bending stress

Let σ = Maximum bending stress in N/m2, and

N = Speed of the shaft = 75% of critical speed = 0.75 Nc . . . (Given)
When the shaft starts rotating, the additional dynamic load (W1) to which the shaft is
subjected, may be obtained by using the bending equation,

We know that for a shaft fixed at both ends and carrying a point load (W1) at the centre,
the maximum bending moment
 6.(i) A shaft 50 mm diameter and 3 metres long is simply supported at the ends and
carries three loads of 1000 N, 1500 N and 750 N at 1 m, 2 m and 2.5 m from the left
support. The Young's modulus for shaft material is 200 GN/m 2. Find the frequency
of transverse vibration.
Solution. Given :2 = 200 × d = 50 mm = 0.05 m ;109 N/m2l = 3 m, W1 = 1000 N ; W2 = 1500
N ; W3 = 750 N;
E = 200 GN/m
The shaft carrying the loads is shown in Fig. 23.13
We know that moment of inertia of the shaft,
 6.(ii) Calculate the whirling speed of a shaft 20 mm diameter and 0.6 m long
carrying a mass of 1 kg at its mid-point. The density of the shaft material is 40 Mg/m3,
and Young’s modulus is 200 GN/m2. Assume the shaft to be freely supported.
FORCED VIBRATION
4.1 INTRODUCTION:

When a system is subjected continuously to time varying disturbances, the

vibrations resulting under the presence of the external disturbance are referred to as forced
vibrations.

Forced vibration is when an alternating force or motion is applied to

a mechanical system. Examples of this type of vibration include a shaking washing machine
due to an imbalance, transportation vibration (caused by truck engine, springs, road, etc), or
the vibration of a building during an earthquake. In forced vibration the frequency of the
vibration is the frequency of the force or motion applied, with order of magnitude being
dependent on the actual mechanical system.

When a vehicle moves on a rough road, it is continuously subjected to road

undulations causing the system to vibrate (pitch, bounce, roll etc). Thus the automobile is
said to undergo forced vibrations. Similarly whenever the engine is turned on, there is a
resultant residual unbalance force that is transmitted to the chassis of the vehicle through the
engine mounts, causing again forced vibrations of the vehicle on its chassis. A building
when subjected to time varying ground motion (earthquake) or wind loads, undergoes forced
vibrations. Thus most of the practical examples of vibrations are indeed forced vibrations.

4.2 CAUSES RESONANCE:

Resonance is simple to understand if you view the spring and mass as energy storage
elements – with the mass storing kinetic energy and the spring storing potential energy. As
discussed earlier, when the mass and spring have no force acting on them they transfer energy
back and forth at a rate equal to the natural frequency. In other words, if energy is to be
efficiently pumped into both the mass and spring the energy source needs to feed the energy in at
a rate equal to the natural frequency. Applying a force to the mass and spring is similar to
pushing a child on swing, you need to push at the correct moment if you want the swing to get
higher and higher. As in the case of the swing, the force applied does not necessarily have to be
high to get large motions; the pushes just need to keep adding energy into the system.
The damper, instead of storing energy, dissipates energy. Since the damping force
is proportional to the velocity, the more the motion, the more the damper dissipates the
energy. Therefore a point will come when the energy dissipated by the damper will equal the
energy being fed in by the force. At this point, the system has reached its maximum
amplitude and will continue to vibrate at this level as long as the force applied stays the
same. If no damping exists, there is nothing to dissipate the energy and therefore
theoretically the motion will continue to grow on into infinity.
4.3 FORCED VIBRATION OF A SINGLE DEGREE-OF-FREEDOM SYSTEM:

We saw that when a system is given an initial input of energy, either in the
form of an initial displacement or an initial velocity, and then released it will, under the right
conditions, vibrate freely. If there is damping in the system, then the oscillations die away. If
a system is given a continuous input of energy in the form of a continuously applied force or
a continuously applied displacement, then the consequent vibration is called forced
vibration. The energy input can overcome that dissipated by damping mechanisms and the
oscillations are sustained.

We will consider two types of forced vibration. The first is where the ground to
which the system is attached is itself undergoing a periodic displacement, such as the vibration
of a building in an earthquake. The second is where a periodic force is applied to the mass, or
object performing the motion; an example might be the forces exerted on the body of a car by
the forces produced in the engine. The simplest form of periodic force or displacement is
sinusoidal, so we will begin by considering forced vibration due to sinusoidal motion of the
ground. In all real systems, energy will be dissipated, i.e. the system will be damped, but often
the damping is very small. So let us first analyze systems in which there is no damping.

4.4 STEADY STATE RESPONSE DUE TO HARMONIC OSCILLATION:

Consider a spring-mass-damper system as shown in figure 4.1. The equation of

motion of this system subjected to a harmonic force can be given by

(4.1)

where, m , k and c are the mass, spring stiffness and damping coefficient of the system, F is the
amplitude of the force, w is the excitation frequency or driving frequency.

Figure 4.1 Harmonically excited system

 Figure 4.2: Force polygon

The steady state response of the system can be determined by solving equation(4.1) in many
different ways. Here a simpler graphical method is used which will give physical
understanding to this dynamic problem. From solution of differential equations it is known
that the steady state solution (particular integral) will be of the form

(4.2)

As each term of equation (4.1) represents a forcing term viz., first, second and third terms,
represent the inertia force, spring force, and the damping forces. The term in the right hand
side of equation (4.1) is the applied force. One may draw a close polygon as shown in figure
4.2 considering the equilibrium of the system under the action of these forces. Considering a
reference line these forces can be presented as follows.

Spring force = (This force will make an angle with the

reference line, represented by line OA).
Damping force = (This force will be perpendicular to the spring
force, represented by line AB).
Inertia force = (this force is perpendicular to the damping force
and is in opposite direction with the spring force and is represented by line BC) .
Applied force = which can be drawn at an angle with respect to the reference
line and is represented by line OC.

From equation (1), the resultant of the spring force, damping force and the inertia force will be the
applied force, which is clearly shown in figure 4.2.

It may be noted that till now, we don't know about the magnitude of X and which can be easily computed
from
Figure 2. Drawing a line CD parallel to AB, from the triangle OCD of Figure 2,
 From the previous module of free-vibration it may
be recalled that

• Natural frequency
• Critical
damping

• Damping factor or damping ratio

H

ence,

or

As the ratio is the static deflection of the spring, is known

as the magnification factor or amplitude ratio of the system 4.5 FORCED
VIBRATION WITH DAMPING:
 In this section we will see the behaviour of the spring mass damper model when we add
a harmonic force in the form below. A force of this type could, for example, be generated by a
rotating imbalance.

If we again sum the forces on the mass we get the following ordinary differential equation:

The steady state solution of this problem can be written as:

The result states that the mass will oscillate at the same frequency, f, of the applied force, but
with a phase shift φ.

The amplitude of the vibration ―X‖ is defined by the following formula.

Where ―r‖ is defined as the ratio of the harmonic force frequency over the
undamped
natural frequency of the mass–spring–damper model.

The phase shift , φ, is defined by the following formula.

The plot of these functions, called "the frequency response of the system", presents one of the most
important features in forced vibration. In a lightly damped system when the forcing frequency
nears the natural frequency ( ) the amplitude of the vibration can get extremely high. This
phenomenon is called resonance (subsequently the natural frequency of a system is often referred
to as the resonant frequency). In rotor bearing systems any rotational speed that excites a resonant
frequency is referred to as a critical speed.

If resonance occurs in a mechanical system it can be very harmful – leading to

eventual failure of the system. Consequently, one of the major reasons for vibration analysis is to
predict when this type of resonance may occur and then to determine what steps to take to prevent
it from occurring. As the amplitude plot shows, adding damping can significantly reduce the
magnitude of the vibration. Also, the magnitude can be reduced if the natural frequency can be
shifted away from the forcing frequency by changing the stiffness or mass of the system. If the
system cannot be changed, perhaps the forcing frequency can be shifted (for example, changing
the speed of the machine generating the force).

The following are some other points in regards to the forced vibration shown in the frequency response
plots.

At a given frequency ratio, the amplitude of the vibration, X, is directly proportional to the
amplitude of the force F0 (e.g. if you double the force, the vibration doubles)

With little or no damping, the vibration is in phase with the forcing frequency when the frequency ratio r <
1 and 180 degrees out of phase when the frequency ratio r > 1
When r ≪ 1 the amplitude is just the deflection of the spring under the static force F0. This
deflection is called the static deflection δst. Hence, when r ≪ 1 the effects of the damper and the mass are minimal.

When r ≫ 1 the amplitude of the vibration is actually less than the static deflection δst. In this region the force generated by the mass (F = ma)
is dominating because the acceleration seen by the mass increases with the frequency. Since the deflection seen in the spring, X, is reduced in

this region, the force transmitted by the spring (F = kx) to the base is reduced. Therefore the mass–
spring–damper system is isolating the harmonic force from the mounting base – referred to as vibration isolation. Interestingly, more
damping actually reduces the effects of vibration isolation when r ≫ 1 because the damping force (F = cv) is also transmitted to the base.
4.6 ROTATING UNBALANCE FORCED VIBRATION:

One may find many rotating systems in industrial applications. The unbalanced
force in such a system can be represented by a mass m with eccentricity e , which is rotating with angular
velocity as shown in Figure 4.1.
 Figure 4.1 : Vibrating system with rotating unbalance

Figure 4.2. Freebody diagram of the system

Let x be the displacement of the nonrotating mass (M-m) from the static equilibrium
position, then the displacement of the rotating mass m is

From the freebody diagram of the system shown in figure 4.2, the equation of motion is

(4.1)

or (4.2)

This equation is same as equation (1) where F is replaced by . So from the force polygon
as shown in figure 4.3
 (4.3)

or (4.4)

(4.5)

Figure 4.3: Force polygon

(4.6)

and (4.7)

So the complete solution becomes

(4.8)

4.7 VIBRATION ISOLATION AND TRANSMISSIBILITY:

When a machine is operating, it is subjected to several time varying forces because of which it
tends to exhibit vibrations. In the process, some of these forces are transmitted to the foundation – which
could undermine the life of the foundation and also affect the operation of any other machine on the same
foundation. Hence it is of interest to minimize this force transmission. Similarly when a system is subjected to
ground motion, part of the ground motion is transmitted to the system as we just discussed e.g., an automobile
going on an uneven road; an instrument mounted on the vibrating surface of an aircraft etc. In these cases, we
wish to minimize the motion transmitted from the ground to the system. Such considerations are used in the
design of machine foundations and in order to understand some of the basic issues involved, we will study
this problem based on the single d.o.f model discussed so far. we get the expression for force transmitted to
the base as follows:

4.7.1 Vibration Isolators:

Consider a vibrating machine; bolted to a rigid floor (Figure 2a).The force transmitted to the
floor is equal to the force generated in the machine. The transmitted force can be decreased by adding
a suspension and damping elements (often called vibration isolators) Figure 2b , or by adding what is
called an inertia block, a large mass (usually a block of cast concrete), directly attached to the
machine (Figure 2c).Another option is to add an additional level of mass (sometimes called a seismic
mass, againa block ofcast concrete) and suspension(Figure2d).

Figure 2.Vibration isolation systems: a) Machine bolted to a rigid foundation

Supported on isolation springs, rigid foundation c) machine attached to an inertial block. d)
Supported on isolation springs, non-rigid foundation (such as a floor); or machine on isolation
springs, seismic mass and second level of isolator springs

When oscillatory forces arise unavoidably in machines it is usually desired to

prevent these forces from being transmitted to the surroundings. For example, some
unbalanced forces are inevitable in a car engine, and it is uncomfortable if these are
wholly transmitted to the car body. The usual solution is to mount the source of vibration
on sprung supports. Vibration isolation is measured in terms of the motion or force
transmitted to the foundation. The lesser the force or motion transmitted the greater the
vibration isolation
Suppose that the foundation is effectively rigid and that only one direction of
movement is effectively excited so that the system can be treated as having only one degree of
freedom.

4.8 RESPONSE WITHOUT DAMPING:

The amplitude of the force transmitted to the foundations is Where k is the Stiffness
of the support and x(t) is the displacement of the mass m.
The governing equation can be determined by considering that the total forcing on the machine
is equal to its mass multiplied by itsacceleration(Newton’s second law)
4.9 SOLVED PROBLEMS
Derive the relation for the displacement of mass from the equilibrium position of
the damped vibration system with harmonic forcing.
Consider a system consisting of spring, mass and damper as shown in Fig. 23.19. Let
the system is acted upon by an external periodic (i.e. simple harmonic) disturbing force,

Fx F cos ω .t
where F = Static force, and
= Angular velocity of the periodic disturbing force.
When the system is constrained to move in vertical guides, it has only one degree of
freedom. Let at sometime t, the mass is displaced downwards through a distance x from
its mean position.
The equation of motion may be written as,

This equation of motion may be solved either by differential equation method or by

graphi-cal method as discussed below :
Differential equation method
The equation (i) is a differential equation of the second degree whose right hand side is
some function in t. The solution of such type of differential equation consists of two parts ; one
part is the complementary function and the second is particular integral. Therefore the solution
may be written as
x = x1 + x2
where x1 = Complementary function, and x2 = Particular integral.

The complementary function is same as discussed in the previous article, i.e.

 x1 Ce−at cos (ω d t− θ ) . . . (ii) where C and θ are constants. Let
us now find the value of particular integral as discussed below :
Let the particular integral of equation (i) is given by
A mass of 10 kg is suspended from one end of a helical spring, the other end being
fixed. The stiffness of the spring is 10 N/mm. The viscous damping causes the
amplitude to decrease to one-tenth of the initial value in four complete oscillations. If a
periodic force of 150 cos 50 t N is applied at the mass in the vertical direction, find the
amplitude of the forced vibrations. What is its value of resonance ?
 The mass of an electric motor is 120 kg and it runs at 1500 r.p.m. The armature mass
is 35 kg and its C.G. lies 0.5 mm from the axis of rotation. The motor is mounted on
five springs o f negligible damping so that the force transmitted is one -eleventh of
the impressed force. Assume that the mass of the motor is equally distributed among
the five springs.

Determine : 1. stiffness of each spring; 2. dynamic force transmitted to the ba se at the

operating speed; and 3. natural frequency of the system.
 What do you understand by transmissibility? Describe the method of finding the
transmissibility ratio from unbalanced machine supported with foundation.

A little consideration will show that when an unbalanced machine is installed on the
foundation, it produces vibration in the foundation. In order to prevent these vibrations or to
minimize the transmission of forces to the foundation, the machines are mounted on springs
and dampers or on some vibration isolating material, as shown in Fig. 23.22. The
arrangement is assumed to have one degree of freedom, i.e. it can move up and down only.
It may be noted that when a periodic (i.e. simple harmonic) disturbing force F cos ω t
is applied to a machine of mass m supported by a spring of stiffness s, then the force is
transmitted by means of the spring and the damper or dashpot to the fixed support or
foundation.

The ratio of the force transmitted (FT) to the force applied (F) is known as the isolation
factor or transmissibility ratio of the spring support.

We have discussed above that the force transmitted to the foundation consists of the fol-
lowing two forces :
1.Spring force or elastic force which is equal to s. xmax, and
2.Damping force which is equal to c. ω .xmax.
Since these two forces are perpendicular to one another, as shown in Fig.23.23,
therefore the force transmitted,
 A machine has a mass of 100 kg and unbalanced reciprocating parts of mass
2 kg which move through a vertical stroke of 80 mm with simple harmonic motion.
The machine is mounted on four springs, symmetrically arranged with respect to
centre of mass, in such a way that the machine has one degree of freedom and can
undergo vertical displacements only.
Neglecting damping, calculate the combined stiffness of the spring in order that
the force transmitted to the foundation is 1 / 25 th of the applied force, when the speed
of rotation of ma-chine crank shaft is 1000 r.p.m.
When the machine is actually supported on the springs, it is found that the
damping reduces the amplitude of successive free vibrations by 25%. Find : 1. the
force transmitted to foundation at 1000 r.p.m., 2. the force transmitted to the
foundation at reso nance, and 3. the amplitude of the forced vibration of the machine
at resonance.
6.(i) Derive the relation for magnification factor in case of forced vibration.
6.(ii) A single cylinder vertical petrol engine of total mass 300 kg is mounted upon a steel
chassis frame and causes a vertical static deflection of 2 mm. The reciprocating parts of the
engine has a mass of 20 kg and move through a vertical stroke of 150 mm with simple
harmonic motion. A dashpot is provided whose damping resistance is directly
proportional to the velocity and amounts to 1.5 kN per metre per second.
Considering that the steady state of vibration is reached ; determine : 1. the amplitude of
forced vibrations, when the driving shaft of the engine rotates at 480 r.p.m., and 2. the
speed of the driving shaft at which resonance will occur.

Solution : Given. m = 300 kg; δ = 2 mm = 2 × 10–3 m ; m1 = 20 kg ; l = 150 mm

= 0.15 m ; c = 1.5 kN/m/s = 1500 N/m/s ; N = 480 r.p.m. or ω 2 480 / 60 = 50.3 rad/s