Mechanical Vibration Lab: Faculty of Engineering Mechanical Engineering Department
Mechanical Vibration Lab: Faculty of Engineering Mechanical Engineering Department
Mechanical Vibration Lab: Faculty of Engineering Mechanical Engineering Department
Faculty of Engineering
No. Experiment
0 Vibration Review
1 Mass – Spring system
2 Simple and Compound Pendulums
3 Mass Moment of Inertia Estimation-Part one: Bifilar Suspension
4 Mass Moment of Inertia Estimation-Part two: Auxiliary Mass Method
5 Forced Vibration with Negligible Damping
6 Transverse Vibration of a Beam
7 Undamped vibration absorber
8 Static and Dynamic Balancing
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ELEMENTARY PARTS OF VIBRATORY SYSTEMS
Vibratory systems comprise means for storing potential energy (spring), means for
storing kinetic energy (mass or inertia), and means by which the energy is gradually lost
(damper). The vibration of a system involves the alternating transfer of energy
between its potential and kinetic forms. In a damped system, some energy is dissi-
pated at each cycle of vibration and must be replaced from an external source if a
steady vibration is to be maintained. Although a single physical structure may store
both kinetic and potential energy, and may dissipate energy, this chapter considers
only lumped parameter systems composed of ideal springs, masses, and dampers
wherein each element has only a single function. In translational motion, displace-
ments are defined as linear distances; in rotational motion, displacements are
defined as angular motions.
TRANSLATIONAL MOTION
Spring:- In the linear spring shown in Figure1, the change in the length of the spring is
proportional to the force acting along its length:
F = k(x - u) (1)
The ideal spring is considered to have no mass; thus, the force acting on one end is
equal and opposite to the force acting on the other end. The constant of proportionality k
is the spring constant or stiffness.
F = m ẍ (2)
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Figure 2. Rigid mass.
Damper. In the viscous damper shown in Figure 3, the applied force is proportional
to the relative velocity of its connection points:
F = c(ẋ - u̇ ) (3)
The constant c is the damping coefficient, the characteristic parameter of the damper. The
ideal damper is considered to have no mass; thus the force at one end is equal and
opposite to the force at the other end.
The elements of a mechanical system which moves with pure rotation of the parts are
wholly analogous to the elements of a system that moves with pure translation. The
property of a rotational system which stores kinetic energy is inertia; stiffness and
damping coefficients are defined with reference to angular displacement and angular
velocity, respectively. The analogous quantities and equations are listed in Table.1.
In as much as the mathematical equations for a rotational system can be written by analogy
from the equations for a translational system, only the latter are discussed in detail.
Whenever translational systems are discussed, it is understood that corresponding equations
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apply to the analogous rotational system, as indicated in Table.1.
PERIODIC MOTION
Vibration is a periodic motion, or one that repeats itself after a certain interval of time called the
period, T. Figure 4. illustrated the periodic motion time-domain curve of a steam turbine bearing
pedestal. Displacement is plotted on the vertical, or Y-axis, and time on the horizontal, or X-
axis. The curve shown in Figure 5 is the sum of all vibration components generated by the
rotating element and bearing-support structure
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MEASURABLE PARAMETERS
As shown previously, vibrations can be displayed graphically as plots, which are referred
to as vibration profiles or signatures. These plots are based on measurable parameters (i.e.,
frequency and amplitude). Note that the terms profile and signature are sometimes used
interchangeably by industry. In this module, however, profile is used to refer either to time-
domain (also may be called time trace or waveform) or frequency-domain plot.
Frequency
Amplitude
Amplitude refers to the maximum value of a motion or vibration. This value can be
represented in terms of displacement (mils), velocity (inches per second), or acceleration (inches
per second squared), each of which is discussed in more detail in the following section on
Maximum Vibration Measurement.
Displacement
Velocity
𝑑𝑋
Velocity
˙ is defined as the time rate of change of displacement (i.e., the first derivative,or 𝑋̇)
𝑑𝑡
and is usually expressed as inches per second (in./sec). In simple terms, velocity is a
description of how fast a vibration component is moving rather than how far, which is described
by displacement.
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Acceleration
Acceleration is defined as the time rate of change of velocity (i.e., second derivative of
𝑑2 𝑋
displacement, 𝑑𝑡 2 or 𝑋̈ ) is expressed in units of inches per second squared ( inch/ sec2 )
Acceleration is commonly expressed in terms of the gravitational constant, g, which is 32.17
ft/sec2. In vibration analysis applications, acceleration is typically expressed in terms of g-RMS
or g-PK. These are the best measures of the force generated by a machine, a group of
components, or one of its components.
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TYPES OF VIBRATION
Vibration Classifications
period of
Linearity Excitation Damping Countinuty
ocsillation
non -
force damped descrite periodic
linear
general
random
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The free-body diagram above depicts four forces acting upon the object. Objects do not
necessarily always have four forces acting upon them. There will be cases in which the
number of forces depicted by a free-body diagram will be one, two, or three. There is no
hard and fast rule about the number of forces which must be drawn in a free-body
diagram. The only rule for drawing free-body diagrams is to depict all the forces which
exist for that object in the given situation. Thus, to construct free-body diagrams, it is
extremely important to know the various types of forces. If given a description of a
physical situation, begin by using your understanding of the force types to identify which
forces are present. Then determine the direction in which each force is acting. Finally,
draw a box and add arrows for each existing force in the appropriate direction; label each
force arrow according to its type. If necessary, refer to the list of forces and their
description in order to understand the various force types and their appropriate symbols.
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Equations of motion:-
When a body is moving with a constant acceleration, the following relations are valid for
the distance, velocity and acceleration.
By substituting (1) into (2), we can get (3), (4) and (5)
where
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Report writing
Every student is required to submit his own separate report for each test
conducted. Reports should be in hand-writing, on A4 paper. In general, the
reports should be arranged in the following order:
1- Abstract
science or scientific work may contain the scope, purpose, results, and contents of
the work.)
2- Introduction
(Begin with background knowledge-What was known before the lab? What is the
lab about? Include any preliminary/pre-lab questions. Also, include the purpose of
(Can usually be a simple list, but make sure it is accurate and complete.)
4- Procedure
(Describe what was performed during the lab Using clear paragraph structure,
explain all steps in the order they actually happened, If procedure is taken directly
from the lab handout, say so! Do NOT rewrite the procedure!)
5- Collected Data
(Label clearly what was measured or observed throughout the lab Include all data
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6- Calculations
7- Results
(Are usually dominated by calculations, tables and figures; however, you still
(Answer any post-lab questions with complete thoughts. Assume the reader does
9- Conclusions
(Refer to the purpose- What was accomplished? Analyze your data, report your
findings and include possible sources of error. How does this relate to topics outside
of the classroom?)
10- References
Include an alphabetical list of all references used throughout the experiment and/or
for writing the lab report. Include your textbook , lab manual, internet, etc.
(This includes: me, my, I, our, us, they, her, she, he, them, etc.)
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I- Objectives:
Spring
ms
Lo
L
Disk
md
Load-Carrier
mc
Y
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For the spring-mass system shown in Figure-1.1, in the case of free vibration in the
vertical direction Y, the equation of motion of the system is given by:
where:
M is the total mass of the system, and equals to: M m mC mS
m is the total mass of the disks: m ∑md
K
* Natural frequency= n (2)
M
2 M m mC mS
* Period of oscillation= 2 2 (3)
n K K
FS K (4)
But for the present system, the spring force FS is also given by:
FS mg (5)
K
m (6)
g
For a helical spring, the stiffness is expressed analytically as:
Gd 4
K (7)
8 ND 3
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1. Hang the spring vertically with the load carrier attached to its end, and then
measure the total length of the spring Lo. (This length is not the initial free length
of the spring Li )
2. Add one disk to the carrier (m = md), and measure the total length of the spring
after elongation L.
3. With this loading, stretch the spring downward, then leave it to oscillate freely
and record the time needed to complete ten oscillations T.
4. Add another disk so that (m = 2md), and repeat steps-2 & 3.
5. Continue by adding a disk each time for total ten disks (m = 10md), and each
time measure the parameters L and T.
V- Collected Data:
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K
1. Slope S 2 K is also obtained.
g
4 2
2. Multiply the slopes of the previous two steps. You get the value: S1 S 2 g
g
is found, and compared to the standard value.
Gd 4
Use eqn-7: K
8 ND 3
1. Find K directly.
2. Compare the two experimental values of K obtained before, with this theoretical
value.
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VII- Results:
Gravitational Acceleration g
From Figures- S1S2 (sec2/m) g (m/sec2) Percent Error ()
1.2 & 1.3
modulus of rigidity G
From Figures- slope (m/N) G (Gpa) Percent Error ()
1.2
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From your own observations, mention the sources of errors in the experiment and
suggest alternative procedures to reduce the errors.
Design a similar experiment to find the torsion stiffness for a torsion spring.
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I- Introduction:
II- Objectives:
This experiment aims at studying the behaviour of both simple and compound
pendulums, in order to realise the following objectives:
1. The independence of the period of oscillation of the simple pendulum from its
mass.
2. The relationship between the period of oscillation and its length.
3. The determination of the value of the gravitational acceleration g, to be compared
with the known standard value.
4. Find the radius of gyration for a compound pendulum
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various points A along the bar with the aid of a sliding pivot situated at any distance h
from the centre of gravity of the pendulum.
(For this case, the centre of mass is at the middle of the rod).
As a result of an initial angular displacement the pendulum oscillates also with a
time-varying angle (t) with the vertical direction.
neutral neutral
position position
A
Rod
h (l,m)
l
Centre of
Gravity CG
l/2
m
(a) (b)
Simple Pendulum Compound Pendulum
Assuming small magnitude for the angle , so that sin , and simplifying eqn-1
leads to the equation:
𝑔
𝜃̈+ 𝐼 𝜃= 0 (2)
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Let the motion defined by the function (t) be a simple harmonic motion defined
as 𝛉(𝐭) = 𝛂𝐬𝐢𝐧n t , where n is the natural frequency of the pendulum. Substituting for
in eqn-2 and simplifying gives n as:
g
n (3)
l
The period of oscillation , is defined as the time required to complete one full cycle of
motion or one oscillation. By observing the function (t), the period is given as:
2 l
2 (4)
n g
where; IA is the mass moment of inertia of the rod about the pivot point A.
Assuming small angle of oscillation and simple harmonic motion for (t), leads to the
following expressions for the natural frequency n and period , respectively:
mgh
ωn = (6)
IA
IA (7)
τ = 2π
mgh
The mass moment of inertia about the pivot point IA, is defined in terms of the mass
moment of inertia about the centre of gravity ICG and the distance h between the centre of
gravity and the pivot point A as:
I A = I CG + mh2 (8)
or
I A m( K CG
2
h2 ) (9)
where; KCG is the radius of gyration of the rod about the centre of gravity.
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Using eqns-7 & 9, then the period of oscillation of the compound pendulum is given
by the expression:
2
K GC h2
2 (10)
gh
V- Experimental Procedures:
Steel and plastic balls are used separately in this experiment as follows:
1. Attach the cord to the steel ball at one end, and attach the other end to the main frame.
Record the length of the cord l.
2. Displace the ball form its neutral position by a small amount, and then release it to
oscillate freely. Measure and record the time T required to complete ten oscillations.
3. Adjust the cord length to a new value and repeat step-2.
4. Repeat Step-3 six more times so that eight pairs of l and T are recorded.
5. Replace the steel ball with the plastic ball and repeat steps-1 through 4.
The experimental procedures for the compound pendulum part are carried out
through the following steps:
1. Measure and record the total length l of the rod. Since the rod is uniform, the
geometrical centre point coincides with the rod's centre of gravity CG.
2. Pivot the rod at an arbitrary point A, and measure the distance from that point to the
centre of gravity h. Displace the rod by a small angle from its neutral position and
release it freely, then measure and record the time required to complete ten
oscillations T.
3. Change the pivoting point A and repeat step-2.
4. Repeat step-3 eight more times so that ten pairs of h and T are recorded.
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l = …………cm
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l
Square both sides of eqn-4 to get: τ 2 4π 2
g
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VIII- Results:
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From Figure-2.4
min (sec.)
h at = min (cm)
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From your own observations, mention the sources of errors in the experiment and
suggest alternative procedures to reduce the errors.
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I- Introduction:
The Bifilar Suspension is a technique that could be applied to objects of different
shapes, but capable to be suspended by two parallel equal-length cables, in order to
evaluate its mass moment of inertia I about any point within the body.
In this experiment, the technique will be applied to find the mass moment of inertia of a
regular cross-section steel beam about its centre of gravity.
II- Objectives:
The system is initially balanced, and by exerting a small pulse in such a way that the
beam keeps oscillating in the horizontal plane about its middle point (centre of gravity
CG), then by virtue of the tension forces initiated in the suspension chords, the beam will
oscillate making an angle θ with its neutral axis, and the suspension chords will make an
angle with the original vertical position.
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In the system shown in Figure-3.1, and under equilibrium conditions, the tension
force in each chord is equal to Mg/2, and by disturbing the system with an initial angular
displacement about the middle point in the horizontal plane, it will oscillate with a
time-varying angle θ(t) under the action of the tension forces in the chords.
Taking the summation of moments about the middle point (Centre of Gravity CG), we
get the equation of motion as:
Mgb
I𝜃̈+( 2 ) ∅ = 0 (1)
But:
b
l (By equating the length of the arc of oscillation)
2
𝑀𝑔𝑏 2
𝜃̈ + ( 4𝐼𝑙 ) 𝜃 = 0 (2)
Mgb 2
* Natural frequency = n (3)
4 Il
2 4 Il
* Period of oscillation = 2 (4)
n Mgb 2
# Analytical Solution:
Using the dimensions of the beam, then its mass moment of inertia about the centre
of gravity can be found analytically as follows:
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b
2 b 2
I C M C rC 2 2 M C rC 2 hC rC 2 (8)
2 2
Where:-
The geometry and the definitions of the basic parameters of the system are provided in
Figure-3.1.
V- Experimental Procedures:
1- Attach the first chord to the main frame and measure its length, then attach the second
chord to the main frame with the same length as the first one. (The length to be
measured and included in the calculations l should include both the chord’s length
and the chuck’s height, see Figure-3.1)
2- Insert a slender rod through the middle hole of the beam, to provide as an axis of
rotation for the beam.
3- Hold the slender rod in place and give the beam a small displacement from one of its
ends in the transverse direction. The beam should oscillate in the horizontal plane
only.
4- Measure the time elapsed to complete ten oscillations T.
5- Release the chords then re-attach them at another length l, and repeat steps-2, 3 & 4.
6- Repeat step-5 four more times to get total six pairs of l and T.
Basic Parameters:
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16 2 I
Square eqn-4 to get: 2 2
l
Mgb
Draw 2 versus l ( call it Figure-3.3)
16 2 I
Slope = I is determined.
Mgb 2
VIII- Results:
M = ………… (kg).
Table-3.3 Data processing analysis for the Bifilar Suspension Technique part
Trial l (cm) (second) 2 (second2)
1
2
3
4
5
6
7
8
Table-3.4 Data processing results for the Bifilar Suspension Technique part
Quantity Slope (sec.2/m) I (kg.m2)
From Figure-3.3
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Analytical Solution:
From your own observations, mention the sources of errors in the experiment and
suggest alternative procedures to reduce the errors.
Design other procedures to find the mass moment of inertia other than the used in
this experiment.
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I- Introduction:
In this experiment, the two identical masses will be added to the primary system
discussed in the previous experiment to find the mass moment of inertia of a regular
cross-section steel beam about its centre of gravity.
II- Objectives:
Then the values obtained from the this method will be compared with the values obtained
experimentally and analytically in the previous experiment.
The system is initially balanced, and by exerting a small pulse in such a way that the
beam keeps oscillating in the horizontal plane about its middle point (centre of gravity
CG), then by virtue of the tension forces initiated in the suspension chords, the beam will
oscillate making an angle θ with its neutral axis, and the suspension chords will make an
angle with the original vertical position.
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Consider the previous system with the addition of two identical circular disks of
radius R, mass m, and inertia Im; each at a side at distance Y from the middle of the beam.
The resulting equation of motion of the modified system will be:
2
(𝑀+2𝑚)𝑔 𝑏
( I + 2Im) 𝜃̈ + ( ) 𝜃 =0 (1)
4𝑙
Where:-
Im = m ( 𝑅 2 + 𝑌 2 ), m R 2 hm
(𝑀+2𝑚)𝑔 𝑏2
𝜃̈ + ( 4𝑙(𝐼+𝐼 ) ) 𝜃 =0 (2)
𝑚
From eqn-2, the natural frequency and the period of oscillation are found as:
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gb 2 M 2m
* Natural frequency = n (3)
4l I 2 I m
2 4l I 2 I m
* Period of oscillation = 2 (4)
n gb 2 M 2m
Analytical Solution:
Using the dimensions of the beam, then its mass moment of inertia about the centre
of gravity can be found analytically as follows:
Where:-
The geometry and the definitions of the basic parameters of the system are provided in
Figure-4.1.
V- Experimental Procedures:
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Basic Parameters:
l = ……………(cm)
m = ……………(kg)
16 2 l I 2 I m
Square eqn-8 to get: 2
gb 2 M 2m
Draw 2 versus Im ( call I Figure-4.4)
32 2 l
1- Slope = 2 Determine g and compare it with the standard value.
gb M 2m
16 2 Il
2- Interception with the vertical axis YInt I is determined.
gb 2 M 2m
I
3- Interception with the horizontal axis X Int I is verified.
2
VIII- Results:
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Table-4.3 Data processing analysis for the Auxiliary Mass Method part
Trial Y (cm) Im (kg.m2) 2 (second2)
1
2
3
4
5
6
Table-4.4 Data processing results for the Auxiliary Mass Method part
From Figure-4.4
2 2
Slope (s /m .kg) g (m/sec.2)
YInt (sec.2) I (kg.m2)
XInt (kg.m2) I (kg.m2)
Analytical Solution:
Comparison:
Table-4.6 Comparison of I obtained by the two methods with the analytical value
Method: I (kg.m2) Percentage Error ()
Analytically
Bifilar Suspension
Auxiliary Mass(Xint)
Auxiliary Mass(Yint)
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From your own observations, mention the sources of errors in the experiment and
suggest alternative procedures to reduce the errors.
Design other procedures to find the mass moment of inertia other than the used in
this experiment.
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I- Introduction:
Forced Vibrations is that mode of vibrations in which the system vibrates under the
action of a time-varying force, generally; a harmonic external excitation of the form:
f (t ) = F sin(ωt ) .
The importance of this mode rises in the practical field, as machines, motors and other
industrial applications, exhibits this mode of vibrations, which may cause a serious
damage of the machine.
II- Objectives:
In this experiment, we will apply both modes of vibrations; free and forced modes of
vibrations, on a system in order to:
1- Evaluate of the natural frequency of the system using the following methods:
1) Equation of motion.
2) Time measurements.
3) Drum speed.
4) Resonance observation.
And the results of the various methods will be compared with the analytical value from
the equation of motion.
2- Study the response of the system under the action of a time-varying force, then to
determine and compare the magnification factor obtained both theoretically and
experimentally.
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established on the beam, and as a result of that, the beam vibrates in the vertical plane
with angle (t) measured from the horizontal reference direction.
The free end of the beam carries a pencil that touches a rotating cylinder (drum)
with a strip of paper covering it, so that you can draw the vibrations of the beam for a
given period of time.
Referring to the system shown in Figure-5.1, with the motor is not operated; by giving
the system an initial displacement and then leaving it to oscillate freely, the system will
exhibit a free mode of vibrations, and the equation of motion in such case is obtained by
taking the summation of moments about point O as follows:
Kb 2
ωn = (2)
I
where:-
L2
I = Ma 2 + M b (3)
3
Gd 4
K= (For a helical spring) (4)
8ND 3
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2π
ωn = (5)
τ
in addition to getting the drum in touch with the pencil at the end of the beam, a graph
of the oscillations of the beam can be obtained by rotating the drum. And so, we can say
that:
C
τ= (6)
V
where:-
C is the distance travelled per cycle.
V is the circumferential velocity of the drum.
And again, the natural frequency is obtained from Eq.5.
meaω 2
Θ= (9)
Kb 2 - I A ω 2
And so, the vertical displacement of the end of the beam Y will be:
meaL 2
Y L (10)
Kb 2 - I A 2
Magnification Factor:
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YDynamic
MF (11)
YStatic
where:-
meaL 2
YStatic (12)
Kb 2
Substitute for YDynamic and YStatic in eqn-11, and rearrange to get:
1
MF (13)
1- r2
where:-
r is the frequency ratio.
n
V- Experimental Procedures:
1. Use the system described above while the motor is turned off, and give the beam a
small vertical displacement, then release it to oscillate freely for ten oscillations.
Record the elapsed time T.
2. Bring the drum in slight touch with the pencil at the end of the beam, after
attaching the roll of paper to the drum, and then give the beam a small pulse to
oscillate freely as before with the drum is held fixed.
3. Turn the motor of the drum on, and after ten seconds stop it and remove the chart
for using it in the calculations.
4. Return to the original system by separating the drum from the pencil, and switch
the motor on at a relatively slow speed.
5. Increase the speed of the motor slowly and notice the response of the system, and
at the same time; try to identify the point at which resonance takes place (When
the largest amplitude of vibrations is noticed). Record the speed of the motor at
that state Nr.
6. Attach the paper roll again to the drum, and make the pencil in touch with the
drum. Activate the motor and set it to any desired speed (Choose one that gives
an appreciable amplitude of vibrations in the beam), and record that speed N.
7. Rotate the drum again for a while, and take the response curve obtained for the
subsequent calculations.
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Spring Disk
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From the dimensions provided, and using eqns-3 & 4. Find Mb, I and K.
Apply in eqn-2 to find the theoretical natural frequency n-theor
T
From T find , as:
10
From eqn-5, find n.
Compare it with n-theor.
Calculate the velocity of the drum V, and use eqn-6 to find .
Apply again in eqn-5 to find n.
Compare it with n-theor
For the speed of the motor at resonance Nr, find the equivalent angular frequency of
the motor .
This frequency will be equal to the natural frequency of the system n.
Compare it with n-theor.
From the value of N at which the second chart has been plotted, find the
corresponding angular frequency .
1. Evaluate the frequency ratio
r using n-theor, and apply eqn-13 to evaluate MF.
2. From eqn-12, find YStatic , and from the second chart evaluate YDynamic , then apply
in eqn-11 to evaluate MF.
3. Compare the results of the two ways.
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VIII- Results:
Table-5.3 Data processing analysis
Parameter Value
Mb (kg)
I (kg.m2)
K (N/m)
In this experiment, the unbalance causes the forced vibration. Mention other
practical sources that causes forced vibration.
Discuss in your own language the concept of magnification factor and its relation
to vibration analysis.
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I- Objectives:
The system under study is shown in Figure-7.1 below, which consists of a simply
supported rectangular cross-section beam, of known dimensions L, w & t, modulus of
elasticity E, total mass Mb and effective mass MEff.
Auxiliary masses (disks) M may be added to the system.
An electrical motor is fixed on the beam, and rotates a circular disk with eccentric mass
to induce vibrations on the system.
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For the system shown in Figure-7.1, the equation of motion is given by:
From which the natural frequency of the whole system ns is found as:
K
ns (2)
M M Eff
1 M M Eff 1 1 1
(3)
ns 2
K K ns 2
nm nb 2
2
Where:-
Analytical Solution:
Analytically, for a simply supported beam, an expression for the natural frequency
n can be derived to give:
EJ EJ
n 2 2 (4)
AL 4
M b L3
2. Effective Mass (MEff):
The effective mass MEff of a simply supported beam is given in terms of its total mass Mb
by the expression:
17
M Eff M b 0.485714 M b (5)
35
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3. Stiffness (K):
48 EJ
K (6)
L3
Where:-
bh 3
J is the polar moment of area and is found as: J where: b is the width of the beam
12
and h is the thickness of the beam.
1. Start with the system shown in Figure-7.1 without any additional masses, and
activate the motor to initiate vibrations on the beam.
2. Increase the speed gradually and observe the behaviour of the system, until you
identify the resonance state where maximum amplitude of vibrations takes place,
then record the speed of the motor NR.
3. Add a (M) mass to the beam; and again, record the speed of the motor at
resonance NR.
4. Repeat step-3 another eight times to get total ten pairs of M and NR.
V- Collected Data:
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For each value of NR obtained, find the corresponding natural frequency for the
system ns.
2
1
Draw versus M, (call it Figure-7.2).
ns
1
1) Slope = K is determined.
K
2
1
Intercept with the vertical axis YInter nb is found.
nb
Intercept with the horizontal axis X Inter -M Eff Verify MEff.
VII- Results:
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From your own observations, mention the sources of error in this experiment and
suggest alternative procedures to reduce it.
In this experiment, the observation of first resonance was used to determine the
natural frequency of the whole configuration. Dose this approach is acceptable for
this prepuce? Suggest another approach to find the natural frequency.
Dunkerley’s Equation was and still an important to analyze the systems that
contain multi-parts. Mention some of life applications that can be analyzed using
this equation.
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I- Objectives:
M1 is the mass of the primary system (the beam and the motor).
M2 is the mass of the secondary system (each of the two suspended masses).
K1 is the stiffness of the simply supported beam.
K2 is the stiffness of the cantilever beam.
Figure-8.1 General layout of the original system after the addition of the vibration
absorber
Taking each system separately (primary & secondary), the equations of motion for
the two systems are given by:
M1 ÿ 1 + K1 y1 + K 2 (y1 − y2 ) = F sin(ωt)
(1)
M2 ÿ 2 +K 2 (y2 − y1 ) = 0
(2)
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From which the steady state response is found for both as:
K - M 2 ω2 F
K K
2
Y1 = (3)
1 + K2 - M 1ω 2
2 - M 2 ω2 K22
K2 F
K + K K
Y2 = 2 2 (4)
1 2 - M 1ω 2 - M 2 ω2 K2
But:
F
Static (5)
K1
2
1
Y1
n1
(6)
Static K 2 2 K
1 2 1 2
K 1 n1 n 2 K 1
Y1
Figure-8.2 below shows a graph of versus for the primary system.
Static n1
Y1
Static
n1
Figure-8.2. Magnification factor versus frequency ration for the primary system
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Considering eqns-3 & 6, to eliminate the vibrations of the primary system, then:
K
Y1 0 K 2 M 2 2 0 2 2
M2
But, at the state of resonance of the primary system:
K1 K K
2 n1 2 1 2 (7)
M1 M1 M 2
That is, the natural frequency of the primary system should be equal to that of the
secondary systems, and so:
3 EC I C
R 2 3 (8)
M 2 LC
Y1 ∞ K1 K 2M 1ω
2
K M
2 2ω
2
K 2
2
0
Define:
, RM 2 r 2 RM r 1 0 then:
M
r
4 2
n M1
2 RM RM 4 RM
2
r1,2
2 (9)
2
r1r2 1
2 (10)
r1 r2 2 RM
2
1. Run the motor at until the resonance occurs; then slide the two masses slowly on
the cantilever beam by equal distances, until you detect the best sense of
elimination of vibrations of the simply supported beam. Record the length LC.
2. Keep the vibration absorber in the previous modified configuration, and run the
motor at low speed. Increase the speed slowly, and determine the speed of the
motor at each one of the two cases of resonance shown in Figure-8.2; that is, N1
and N2 corresponding to r1 and r2, respectively.
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V- Collected Data:
VII- Results:
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From your own observations, mention the sources of error in this experiment and
suggest alternative procedures to reduce it.
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I- Introduction:
These irregularities lead to small eccentric masses that disturb mass distribution of
the part, and the last generate centrifugal forces when the part is in rotation; the
magnitude of these forces increases rapidly with speed of rotation, and enhances
vibrations level during operation, and cause serious problems.
II- Objectives:
This experiment is established in order to introduce and interpret the general features
of balancing technique, in addition to familiarise the student with the basic steps in
applying both static and dynamic balancing techniques on unbalanced mechanical parts.
Static Balancing simply means the insurance of mass distribution about the axis of
rotation of the rotating mechanical part in the radial directions, without consideration of
that distribution in the axial (longitudinal) direction.
To illustrate this; consider a circular disk of perfect mass distribution, with the
points A and B are at two opposite positions on the circumference of the disk, but each is
on one of the faces of the disk, and suppose that a point mass with the same value is fixed
at each of the two points A and B.
Generally, static balancing looks to the part in the direction of its axis of rotation, so in
this case, as the two eccentric masses at A and B are in opposite positions with equal
distances from the central axis, the disk is considered statically balanced although these
masses are at different axial positions.
Practically, static balancing is performed by taking the part like a disk with its axis
of rotation oriented horizontally, and rotating it several times; and at the end of each run
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after getting stable, a mark is made in the lower part of the disk on one of its faces. If the
different marks are distributed randomly over the circumference of the disk, then the disk
is of good mass distribution and considered balanced; but in the case that they accumulate
in a small region, it is realised that there is a mass concentration in that part of the disk,
and this can be treated either by taking small mass from there, or by adding mass to the
opposite position of the disk.
Static Balancing Machine shown in Figure-10.1 below is used for faster and more
accurate static balancing operations. The machine is simply a pendulum, that is balanced
and stable in a vertical configuration with no loading, and free to tilt in all directions
about a ball joint; but when the pendulum is loaded with an unbalanced disk on its
platform, it tilts by some angle from the original orientation. The side to which it tilts
shows the position of the eccentric mass, and the angle by which it tilts is proportional
to the magnitude of that eccentric mass to be compensated.
pendulum unbalanced
disk
Ball
joint
After
Before
Loading
Loading
From the previous discussion, the only condition to be satisfied for static balancing
to be achieved is that:-
“The resultant force of all the forces caused by the rotation of the out of balance masses,
in a given rotating part should be zero”, that is:
∑Fi 0 (1)
Fi mi ei 2 (2)
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(Note: Eq.1 is a vector equation, in which each force is a vector of a magnitude given by
Eq.2, and direction denoted by the angle i, measured from the reference horizontal
direction).
Part Two- Dynamic Balancing:
Dynamic Balancing differs from static balancing in that the mass distribution of the
part is detected in all directions, and not only about the central axis; and so, not only the
magnitude of the unbalanced mass and its distance from the axis of rotation are to be
determined, but also its position in the axial (longitudinal) direction of the rotational part.
To illustrate the meaning of this, consider a disk rotating with an angular speed ,
with different out of balance masses mi, each with eccentricity ei from the axis of rotation.
These masses are not expected to be in the same plane, but in different locations along
the disk’s axial direction; in addition, each mass will produce a centrifugal force making
an angle i with the reference horizontal direction in its own plane.
The system described previously and shown schematically in Figure-10.2, can be easily
treated by choosing any plane as the reference for the other planes containing the
eccentric masses, such that each one of them is at distance ai from that reference plane.
And for simplicity, choose plane-1 as the reference plane, where a1 becomes zero.
Generally, for the dynamic balancing of a system to be achieved, then:
“The resultant force of all centrifugal forces caused by the out of balance masses should
be zero (as in static balancing), in addition to that the summation of their moments about
any point should be also zero”, that is:
Reference Plane
(4) (3) (2) (1)
m2
m1
e2
e1
Axis Of
Rotation e3
e4 m3
m4
a2
a3
a4
Figure-10.2 General case of a 3-D system to be dynamically balanced
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∑Fi 0 (1)
∑M i 0 (3)
And again, the forces in eqn-1 are given by eqn-2, and the moments in eqn-3 are given
by:
Mi ai mi ei 2 (4)
And so, after choosing a reference plane, translate all the centrifugal forces in the
other planes to that plane as forces (miei2) and moments (aimiei2), and there you can
apply the vector summation of forces and moments separately to satisfy the requirements
of dynamic balancing mentioned in eqns-1 & 3.
The system we are dealing with is shown in Figure-10.3, which consists of four
blocks with the same geometry and dimensions, but each has a different size hole and so
different eccentric mass. The four blocks are spaced along a shaft driven by an electrical
motor, where each is fixed at distances Si from its end, with angle i measured from the
horizontal direction.
The electrical motor is attached to the shaft by a flexible belt, and provides the shaft with
rotation at various speeds; The shaft and the four blocks are carried on a circular table,
which is attached to the rigid frame by flexible mountings that permits the sense of
vibrations during the operation of the system.
The system in hand is to be balanced using the principles outlined before. The
dimensions of all the blocks are provided, while the angular orientation and the distance
from the end of the shaft are given for the first two blocks only; and so, you have to find
the missing parameters of the other two blocks analytically, such that balancing state is
accomplished.
V- Governing Equations:
In this experiment, the major formulas to be used have been given in eqns-1, 2, 3 &
4; and according to the given system, eqns-1 & 3 can be extracted to:
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Fi F1 F2 F3 F4 0
m1e1 cos 1 m2 e2 cos 2 m3 e3 cos 3 m4 e4 cos 4 0 (5)
m1e1 sin 1 m2 e2 sin 2 m3 e3 sin 3 m4 e4 sin 4 0 (6)
M i M1 M 2 M 3 M 4 0
a1m1e1 cos 1 a2 m2 e2 cos 2 a3 m3e3 cos 3 a4 m4 e4 cos 4 0 (7)
a1m1e1 sin 1 a2 m2 e2 sin 2 a3 m3 e3 sin 3 a4 m4 e4 sin 4 0 (8)
To find the eccentric mass m and the eccentricity e for each block, then: According to
Figure-10.4 shown below, by assuming that the sector removed from the circle of
diameter D1 contributes approximately 90 of the full circle, then the eccentric mass and
its eccentricity can be expressed by the following formulas, respectively:
C2
e C1
b t
CG
W D2 D1 d
L2
L1
2 1 2 2 2
m L1 wt D1 t D1 t D1 t D2 t bL2 t d 2 L2 (9)
4 8 16 4 4
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L
L1 wt 1 C1 D1 2 t D1 2 t C1 b
1
2 16 8
e (10)
m
D2 2 t C 2 C1 bL2 t d 2 L2 C1 b
4 4 2
VI- Experimental Procedures:
1- Take all the dimensions and perform your calculations as will be demonstrated, and
complete balancing process of the rotating shaft by finding the missing variables.
2- Fix the four blocks on the rotating shaft with the corresponding longitudinal distances
from its end ai, and the angular orientations , according to your balancing
calculations.
3- Connect the shaft to the motor through the flexible belt.
4- Run the motor, and vary its speed to observe the vibrations of the system.
According to your calculations, this configuration of the four blocks on the shaft
should give a balanced rotating system, and you can check it out from the behaviour of
the system as it should not generate any vibrations, and rotates smoothly.
To differentiate the behaviour of a balanced system from an unbalanced one, you can
disturb the configuration of the four blocks with respect to each other (change a or/and
), and rotate the shaft again, then notice the vibrations or fluctuations of the system.
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(1)
(2)
Use the dimensions measured, and apply in eqns-9 & 10 to find m and e for each
block.
Determine the quantity me for the four blocks.
Determine the quantity ame for blocks-1 & 2.
Note:
a1 = 0 a1m1e1 = 0.
On a graph paper, draw to scale from the origin the vector m1e1 at the angle 1, and
then continue from its tip with the vector m2e2 at angle 2.
From the end of the second vector, draw a circle with radius m3e3, and from the origin
draw a circle of radius m4e4.
Join the intersection point of the two circles with the end of vector-2 to get vector-3,
and join it with the origin to get vector-4.
Measure the angles of the two vectors 3 and 4.
On another graph paper, draw from the origin the vector a1m1e1 at the angle 1, and
then continue with a2m2e2 at 2.
From the end of the second vector, draw a line at angle 3, and from the origin
another one at angle 4.
The intersection of them identifies vectors-3 & 4, and their lengths are a3m3e3 and
a4m4e4, respectively.
And so, you can find a3 and a4, then S3 and S4, according to your scale.
The previous method outlined is a graphical method, and you can obtain more
accurate results by solving eqns-5 & 6 simultaneously, to find 3 and 4, and then eqns-7
& 8 to get a3 and a4.
* Note that:
ai S i S1 , as we have chosen plane-1 as the reference plane.
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IX- Results:
2. For the disk mentioned in the example of static balancing technique, it was
shown that it is statically balanced. Based on that description is it also
dynamically balanced? Why?
3. It can be easily concluded that static balancing dose not imply dynamic
balancing. Describe how can you check that with the system used in the
experiment, after being balanced?
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5. You are given a build-in system that you cannot change its configuration;
like a shaft loaded with parts of known eccentric masses, at fixed separating
distances and with fixed angular orientations. How could you balance such a
system?
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