MECHANICAL VIBRATION-MOD III DILEEP G MENON PH-9496366191

VIBRATIONS OF 2 DOF SYSTEMS

INTRODUCTION

A multi-degree of freedom system requires more than one co-ordinate to describe its motion. Therefore, a
two-degree of freedom system would require two independent coordinates to describe its motion. This is
the simplest form of the multi-degree of freedom system. It has two natural frequencies as compared to
one for single degree of freedom system. The system will have two masses and two equations of motion
which have to be treated as coupled differential equations.

The system vibrating at lowest natural frequency is called the first mode and at next higher frequency is
called second mode. If the two masses vibrate at the same frequency and in phase, it is called principal
mode of vibration. In the principal mode of vibrations, if the amplitude of one of the masses is unity, it is
called normal mode of vibration.

Normal modes of vibrations are free and undamped vibrations which depend only on the magnitude and
distribution of the mass and stiffness of the system. When vibrating at the normal mode, all points of the
system undergo simple harmonic motion which passes through their equilibrium positions
simultaneously. The system has to be given specific initial conditions corresponding to its normal mode
for initiating normal mode vibrations.

The forced harmonic vibrations of a two degree of freedom system take place at the frequency of
excitation. When the excitation frequency coincides with one of the natural frequencies of the system, a
condition of resonance is encountered with large resultant amplitude. Damping is used to limit the
amplitude of vibration and to determine the rate of decay of free oscillations.

The two degrees of freedom systems include translational system, rotational system, coupled pendulum,
bending vibrations etc.

CO-ORDINATE COUPLING AND PRINCIPAL CO-ORDINATES

The term coupling is used in vibration analysis to indicate a connection between the equations of motion.
In general, an ' n ' degrees of freedom system requires n independent co-ordinates to describe completely
its configuration. Often, it is possible to find some other set of n co-ordinates to describe the same
configuration of the system completely. Each of these sets of n co-ordinates is called the generalized co-
ordinates.

The most general differential equations of motion for free vibration of a two-degrees-of-freedom
undamped vibration system has the form

 m11 m12   x1   k11 k12   x1  0

m            ----------------------------------- (1)
 21 m22   x2   k21 k22   x2  0

These equations indicate the type of coupling present. If the mass matrix is non-diagonal, mass or
dynamic coupling exists and if the stiffness matrix is non-diagonal, static or stiffness coupling exists. In

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MECHANICAL VIBRATION-MOD III DILEEP G MENON PH-9496366191

general, it is possible to find a co-ordinate system that has neither mass or dynamic coupling nor stiffness
or static coupling. The two equations (1) are then decoupled into two independent equations and can be
solved independently of the other. Such co-ordinates are called principal co-ordinates or normal co-
ordinates. Hence the matrix equation for a two-degree-of-freedom undamped free vibration system with
no dynamic and static coupling has the form:

 m11 0   x1   k11 0   x1  0

 0 m  x     0 k   x   0  ----------------------------------- (2)
 22   2   22   2   

TORSIONAL VIBRATIONS
NATURAL FREQUENCY OF FREE TORSIONAL VIBRATIONS

Consider a heavy disc attached to one end of a shaft. The other end of the shaft is fixed. If the disc is
given an angular displacement and released, torsional oscillations will be set up.

Let I  mass moment of inertia of the disc

l  length of the shaft

kt  torsional stiffness of the shaft

T GJ
 
 l

where

G  modulus of rigidity of shaft material

J  polar moment of inertia of the shaft

d4

32

Let  ,  and  be the angular displacement from mean equilibrium position, angular velocity and
angular acceleration of the disc at any given instant of time during oscillation.

Net torque acting on the disc   kt  .

According to Newton’s second law, net torque  I

i.e.  kt   I   I  kt  0

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GJ GJ
i.e. I    0      0
l lI

GJ
Therefore, the natural frequency of oscillation, n  rad s
lI

TORSIONALLY EQUIVALENT SHAFT

Torsionally equivalent shaft is a shaft of uniform diameter which twists through the same angle as the
actual shaft of different diameters and different lengths, under the same torque. In actual practice, the
shaft may have variable diameters for different lengths. Such a shaft may be theoretically replaced by an
equivalent shaft of uniform diameter.

Consider a shaft of varying diameters as shown in figure. Let this shaft is replaced by an equivalent shaft
of uniform diameter d and length l as shown. These two shafts must have the same total angle of twist
when the same torque T is applied on both.

Let d1 , d 2 and d3  diameters of the lengths l1 , l2 and l3 respectively.

1 ,  2 and 3  angle of twist for the lengths l1 , l2 and l3 respectively.

J1 , J 2 and J 3  polar moment of inertia for the shafts of diameters d1 , d 2 and d3 respectively.

  total angle of twist

Since the total angle of twist of the shaft is equal to the sum of the angle of twists of different lengths,

  1   2  3

Tl Tl1 Tl2 Tl3

i.e.   
GJ GJ1 GJ 2 GJ 3

l l l l
i.e.  1  2  3
J J1 J2 J3

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MECHANICAL VIBRATION-MOD III DILEEP G MENON PH-9496366191

l l1 l2 l3
or   
d 4
 d1 4
 d2 4
 d34
32 32 32 32

l l l l
i.e. 4
 14  24  34
d d1 d2 d3

In actual calculations, it is assumed that the diameter d of the equivalent shaft is equal to one of the
diameters of the actual shaft.

Let us assume that d  d1

l l l l
Therefore, 4
 14  24  34
d1 d1 d2 d3

4 4
d  d 
or l  l1  l2  1   l3  1 
 d2   d3 

The above equation gives the length l of the equivalent shaft.

FREE TORSIONAL VIBRATIONS OF A TWO ROTOR SYSTEM

Since the two ends are free, there is only one

mode of vibration possible, which is the second
mode. The first mode frequency will be zero.
During the second mode, when the rotor A
rotates in one direction, the other rotor B rotates
in the opposite direction. Hence in between the
two ends of the shaft, we can locate a cross
section which is stationary. Therefore, a node is
said to be formed. A node N is a point or cross
section of zero deflection. Therefore, we can
assume that shaft of length l A is fixed at the node,
the other end of which carries a rotor having mass
moment of inertia I A , which is having free
torsional oscillations. Similarly, the shaft of
length l B can be assumed to be fixed at the node,
the other end of which carries a rotor having mass moment of inertia I B , which is having free torsional
oscillations.

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1 GJ
 Natural frequency of torsional vibrations for rotor A , f nA 
2 lA I A

1 GJ
Natural frequency of torsional vibrations for rotor B , f nb 
2 lB I B

Since f nA  f nB

1 GJ 1 GJ
  l A I A  lB I B
2 lA I A 2 lB I B

l A I A  lB I B
Therefore,
l  l A  lB

FREE TORSIONAL OSCILLATIONS OF A THREE ROTOR SYSTEM

Natural frequency of rotor A ,

1 GJ
f nA  ---------------------------------------------------------------- (1)
2 lA I A

Natural frequency of rotor B ,

1 GJ  1 1 
f nB     -------------------------------------------- (2)
2 I B  l1  l A l2  lC 

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Natural frequency of rotor C ,

1 GJ
f nC  ---------------------------------------------------------------- (3)
2 lC I C

Since f nA  f nB  f nC , equating equations (1) and (3), we have

1 GJ 1 GJ

2 lA I A 2 lC I C

or l A I A  lC I C ---------------------------------------------------------------- (4)

Equating equations (2) and (3), we have

1 GJ  1 1  1 GJ
   
2 I B  l1  l A l2  lC  2 lC I C

1  1 1  1
or     -------------------------------------------- (5)
I B  l1  l A l2  lC  lC I C

From equations (4) and (5) together with any of the equations (1), (2) or (3), we can solve the problems.

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FREE TORSIONAL VIBRATIONS OF A GEARED SYSTEM

Consider a geared system. It consists of a driving shaft ' C ' which carries a rotor ' A ' . It drives a driven
shaft ' D ' which carries a rotor ' B ' through a pinion ' E ' and a gear wheel ' F ' . This system may be
replaced by an equivalent system of a continuous shaft carrying a rotor A at one end and rotor B at the
other end.

The conditions that must be satisfied by an equivalent system are

(1) K.E of equivalent system = K.E of original system

(2) Strain energy of equivalent system = Strain energy of original system.

Inorder to satisfy the condition (1),

K .E of section l1  K .E of section l3  K .E of section l1  K .E of section l2

i.e. K .E of section l3  K .E of section l2

 
2
1  1
I B B  I B  B 
2
i.e.
2 2

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2
1  1       
I B   A   I B B   I B  I B  B 
2 2
Therefore,
2 2  A   B A


I  A 
i.e. I B  B2  Gear ratio, G   ----------------------------------- (1)
G  B 

In order to satisfy the condition (2),

Strain energy of section l1  Strain energy of section l3 

Strain energy of section l1  Strain energy of section l2

i.e. Strain energy of section l3  Strain energy of section l2

1 1 T3 
i.e. T33  T2 2   2 -------------------------------------------- (2)
2 2 T2 3

Assuming the power transmitted is also the same, we have

T3  1
T3 A  T2B   B  ----------------------------------- (3)
T2 A G

Combining (2) and (3), we can write,

T3  1
 2  ------------------------------------------------------ (4)
T2 3 G

T G T GJ
From torsion formula, we know   
J l  l

T3 GJ 3
Therefore,  ------------------------------------------------------ (a)
3 l3

T2 GJ 2
and  ------------------------------------------------------ (b)
2 l2

Dividing (a) and (b), we get

T3 J  l
 3  3  2
T2 J2 2 l3

T2 J  J3
Therefore, l3   3  3  l2  l3  G   G  l2
T3 J2 2 J2

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4
d 
i.e. l3  G l2  1 
2
-------------------------------------------- (5)
 d2 

4
d 
Therefore, the length of the equivalent shaft, l  l1  l3  l1  G l2  1  2

 d2 

Frequency of torsional vibration of rotor A ,

1 GJ
f nA 
2 lA I A

Frequency of torsional vibration of rotor B ,

1 GJ
f nB 
2 l B I B

1 GJ 1 GJ
But f nA  f nB  
2 lA I A 2 l B I B

l A I A  l B I B and
i.e -------------------------------------------- (6)
l  l A  l B

When the inertia of gears is also taken into consideration, then an additional rotor must be introduced to
the equivalent system at a distance l1 from the rotor A and thus the system becomes a three rotor system.
This rotor will have a mass moment of inertia

IF
I E  I E  -------------------------------------------- (7)
G2

where I E and I F are the moments of inertia of the pinion and wheel respectively. In order to find
the natural frequency of the system, a three rotor principle can be applied.

EXAMPLE – 1

A shaft of 100 mm diameter and 1 m long has one of its end fixed and the other end carries a disc of
mass 500 kg at a radius of gyration of 450 mm . Determine the natural frequency of torsional vibration
if modulus of rigidity of the shaft material is 80 GN m 2 .

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SOLUTION

Diameter of the shaft, d  100 mm  0.1 m

Mass of the disc, m  500 kg

Radius of gyration of the disc, k  450 mm  0.45 m

  0.1
4
d4
Polar moment of inertia, J    9.82 106 m4
32 32

Mass moment of inertia of the disc, I  mk 2  500   0.45  101.25 kg  m2

2

Therefore natural frequency of oscillation,

1 GJ 1 80 109  9.82 106

fn    14 Hz
2 lI 2 1  102.25

EXAMPLE – 2

A flywheel is mounted on a vertical shaft as shown in figure. Both ends of the

shaft are fixed and its diameter is 50 mm . The flywheel has a mass of 500 kg
and its radius of gyration is 0.5 m . Find the natural frequency of torsional
vibrations if modulus of rigidity of the shaft material is 84 GN m 2 .

SOLUTION

d  50 mm  0.05 m m  500 kg k  0.5 m

G  84 GN m2  84  109 N m2

The polar moment of inertia of the shaft,

  0.05
4
d4
J    0.6  106 m4
32 32

Torsional stiffness of the shaft for length l1 ,

GJ 84  109  0.6  106

kt1    56 103 Nm
l1 0.9

Torsional stiffness of the shaft for length l2 ,

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GJ 84  109  0.6  106

kt 2    84 103 Nm
l2 0.6

Since the two shafts are connected in series, total torsional stiffness of the shaft,

kt  kt1  kt 2  56  84103  140 103 Nm

Mass moment of inertia of the flywheel,

I  mk 2  500  0.52  125 kgm2

Therefore, natural frequency of torsional oscillations,

kt 140 103
n    33.47 rad s
I 125

n 33.47
or fn    5.32 Hz
2 2

EXAMPLE – 3

Determine the location of the node and

the natural frequency of free torsional
vibration of the system as shown in
figure. Given G  80 GPa ,
mA  900 kg , mB  700 kg ,
k A  0.85 m , k B  0.55 m .

SOLUTION
4 4
d  d 
The equivalent length of the shaft, l  l1  l2  1   l3  1 
 d2   d3 
4 4
 0.095   0.095 
i.e. l  0.6  0.5    0.4    8.95 m
 0.06   0.05 

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Mass moment of inertia of rotor A , I A  mAk A2  900   0.85  650 kg  m2

2

Mass moment of inertia of rotor B , I B  mB kB 2  700   0.55  212 kg  m2

2

For a two rotor system (equivalent system), we know that

lB I B l  212
l A I A  lB I B  lA   B  0.326lB
IA 650

Also we know that, equivalent length, l  l A  lB

8.95
i.e. 8.95  0.326lB  lB  lB   6.75m
1.326

Therefore, l A  8.95  lB  8.95  6.75  2.2 m

  0.095
4
 d14
The polar moment of inertia of equivalent shaft, J    8 106 m4
32 32

Therefore, the natural frequency of free torsional oscillations,

1 GJ 1 80 109  8 106
f nA    3.37 Hz
2 lA  I A 2 2.2  650

EXAMPLE – 4

A single cylinder oil engine drives directly a

centrifugal pump. The rotating mass of the engine,
flywheel and the pump with the shaft is equivalent
to a three rotor system. The mass moment of inertia
of the rotor A, B and C are

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0.15, 0.3 and 0.09 kg  m 2 . Find the natural frequency of the torsional vibrations. Take
G  84 GN m 2 .

SOLUTION

Diameter of the shaft, d  70 mm  0.07 m

  0.07 
4
d4
Polar moment of inertia, J    2.36 106 m4
32 32

We know that for free torsional vibrations of a three rotor system,

lC I C l  0.09
l A I A  lC I C  lA   C  0.6 lC
IA 0.15

Also we know,

1 1  1 1 
   
lC IC I B  l1  l A l2  lC 

1 1  1 1 
i.e.    
lC  0.09  0.3 1.5  l A 1  lC 

But l A  0.6 lC

0.3 1 1
Therefore,  
lC  0.09  1.5  0.6 lC 1  lC

i.e.
0.3

1  lC   1.5  0.6 lC  
2.5  1.6 lC
lC  0.09  1.5  0.6 lC 1  lC  1.5  2.1 lC  0.6 lC 2

Cross multiplying, we get

0.45  0.63 lC  0.18 lC 2  0.225 lC  0.144 lC 2

Rearranging, we get

0.324 lC 2  0.855 lC  0.45  0

0.855   0.855  4  0.324  0.45

2

Therefore, lC   1.91 m or 0.726 m

2  0.324

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Case - 1

When lC  1.91 m , l A  0.6lC  0.6 1.91  1.146 m

The fundamental frequency (or single node frequency) will be that which corresponds to the larger of
these two values of lC or l A . When lC  1.91 m then l A  1.146 m . This gives the position of single
node as shown in figure below. As lC  l2 , lC will not give the actual node point. Since l A  l1 , the
single node lies between A and B . The distance l A gives the actual node point.

The natural frequency of torsional vibration for single node is given by

1 GJ 1 84 109  2.36 106

f nA    171 Hz
2 lA I A 2 1.146  0.15

Case - 2

When lC  0.726 m , l A  0.6lC  0.6  0.726  0.4356 m

The two node frequency will be obtained when lC  0.726 m and l A  0.4356 m as shown in figure
below.

Hence the natural frequency of torsional vibration for two node frequency is given by,

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1 GJ 1 84 109  2.36 106

f nA    277 Hz
2 lA I A 2 0.43566  0.15

EXAMPLE – 5

1 rd
A motor drives a centrifugal pump through gearing, the pump speed being of that of the motor. The
3
shaft from motor to the pinion is 60 mm in diameter and 300 mm long. The moment of inertia of the
motor is 400 kg  m 2 . The impeller shaft is 100 mm in diameter and 600 mm long. The moment of
inertia of the impeller is 1500 kg  m2 . Neglecting inertia of the gears and the shaft, determine the
frequency of torsional oscillations of the system. Take G  80 GPa .

SOLUTION

d1  60 mm  0.06 m l1  300 mm  0.3 m I A  400 kg  m 2

d 2  100 mm  0.1 m l2  600 mm  0.6 m I B  1500 kg  m 2

Driver speed 1
Gear ratio, G   3
Driven speed 1
3  
Modulus of rigidity of the shaft material, C  80 GPa  80 109 N m 2

Since the equivalent shaft has the same diameter as the driving shaft, polar moment of inertia of the
equivalent shaft

  0.06
4
 d14
J   1.27 106 m4
32 32

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If the moment of inertia of the gears is neglected, then the equivalent system becomes a two rotor system
with rotors with moment of inertia I A  400 kg  m 2 and I B ' which is given by

I B 1500
IB '   2  166.67 kg  m2
G2 3
4
d 
4
 60 
We also know, l3  G l2  1   32  0.6 
2
  0.7 m
 d2   100 

Therefore, the length of the equivalent shaft

l  l1  l3  0.3  0.7  1 m

Now, since the equivalent system is a two rotor system, we have

lA I A  lB ' I B ' lB '  l  lA 

i.e. lA  400  1  lA   166.67  lA  0.294 m

Therefore, frequency of torsional oscillations,

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1 CJ 1 80 109 1.27 106 J

f nA    4.7 Hz
2 l A I A 2 0.294  400

EXAMPLE – 6

A reciprocating IC engine coupled to a centrifugal pump through a pair of gears. The shaft from the
flywheel of the engine to the gear wheel is of 60 mm in diameter and 950 mm long. The shaft from
1 th
pinion to the pump is 40 mm in diameter and 300 mm long. The engine speed is of the pump
4
speed. Find the frequency of torsional oscillations of the system. Given:

I flywheel  800 kg  m2 I gearwheel  15 kg  m2 I pinion  4 kg  m2

I pump  17 kg  m2 C  84 G N m 2

SOLUTION

I A  I flywheel  800 kg  m2 I B  I pump  17 kg  m2 I E  I gearwheel  15 kg  m2

I F  I pinion  4 kg  m2 C  84 G N m 2  84 109 N m 2

Gear ratio, G 
 14   0.25
1

IF 4
We know that IE '  IE   15   79 kg  m2
 0.25
2 2
G

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MECHANICAL VIBRATION-MOD III DILEEP G MENON PH-9496366191

IB 17
Also IB '    272 kg  m2
 0.25
2 2
G

4
d 
4
 60 
l3  l2G  1   0.3   0.25      0.095 m
2 2
Also
 d2   40 

The equivalent system is a three rotor system. For a three rotor system, we know

IB ' 272
l A I A  lB ' I B '  lA  lB '  lB '
IA 800

i.e. l A  0.34 lB ' ---------------------------------------------------------------- (1)

Also for a three rotor system, we know

1 1  1 1 
   
lB ' I B ' I E '  l1  l A l3  lB ' 

1 1  1 1 
i.e.    
lB '  272 79  0.95  0.34 lB ' 0.095  lB ' 

79   0.095  lB '   0.95  0.34 lB '  

i.e.   
lB '  272   0.95  0.34 lB '  0.095  lB '  

79  1.045  1.34 lB ' 

i.e.   2
lB '  272  0.09025  0.9823 lB ' 0.34 lB ' 

Upon simplification we get

1.44  lB ' 1.325  lB '  0.026  0

2

Solving, lB '  0.9 m or 0.02 m

When lB '  0.9 m l A  0.34 lB '  0.34  0.9  0.306 m

When lB '  0.02 m l A  0.34 lB '  0.34  0.02  0.0068 m

Polar moment of inertia of the equivalent shaft,

  d1    0.06 
4 4

J    1.27 106 m4
32 32

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MECHANICAL VIBRATION-MOD III DILEEP G MENON PH-9496366191

Since the fundamental mode corresponds to higher values of l A or lB ' ,

1 CJ 1 84 109  1.27 106

f n1    3.32 Hz
2 lA I A 2 0.306  800

The next higher mode frequency is given by

1 CJ 1 84 109  1.27 106

fn2    22.3 Hz
2 lA I A 2 0.0068  800

EXAMPLE – 7

A steel shaft ABCD , 1.5 m long has a flywheel at its ends A and D . The mass of the flywheel A is
600 kg and has a radius of gyration of 0.6 m . The mass of the flywheel D is 800 kg and has a radius
of gyration of 0.9 m . The connecting shaft has a diameter of 50 mm for the portion AB which is
0.4 m long; has a diameter of 60 mm for the portion BC which is 0.5 m long and has a diameter of
d mm for the portion CD which is 0.6 m long. Determine:

1. The diameter d of the portion CD so that the node of the torsional vibration of the system will
be at the centre of the length BC and
2. The natural frequency of torsional vibrations

The modulus of rigidity of the shaft material is 80 GPa

SOLUTION

Given: l  1.5 m mA  600 kg k A  0.6 m mD  800 kg k D  0.9 m d1  0.05 m

l1  0.04 m d 2  0.06 m l2  0.5 m d3  d m l3  0.6 m G  80 109 N m2

The actual shaft is as shown in figure. First of all, let us find out the length of the equivalent shaft
assuming its diameter as d1  50 mm as shown in figure.

We know that length of the equivalent shaft

4 4
d  d 
4 4
 0.05   0.05 
l  l1  l2  1   l3  1   0.4  0.5    0.6  
 d2   d3   0.06   d 

3.75 106 3.75 106

i.e. l  0.4  0.24   0.64  ------------------------- (1)
d4 d4

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MECHANICAL VIBRATION-MOD III DILEEP G MENON PH-9496366191

1. Diameter d of the shaft

Suppose the node of the equivalent shaft lies at N as shown in figure.
Let l A  distance of the node from flywheel A and
lD  distance of the node from flywheel D
We know that mass moment of inertia of flywheel A ,
I A  mAk A2  600   0.6   216 kg  m2
2

Mass moment of inertia of flywheel D ,

I D  mD kD 2  800   0.9   648 kg  m2
2

lA I A
We know that l A I A  lD I D  lD 
ID
l A  216 l
i.e. lD   A
648 3

Since the node lies in the centre of length BC in the original system, therefore its equivalent
length from rotor A ,

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MECHANICAL VIBRATION-MOD III DILEEP G MENON PH-9496366191

4
l d 
4
0.5  0.05 
lA  l1  2  1   0.4     0.52 m
2  d2  2  0.06 

lA 0.52
Therefore, lD    0.173 m
3 3

We know that equivalent length l  l A  lD

3.75 106
i.e. 0.64   0.52  0.173
d4

Therefore, d  0.0917 m  91.7 mm

2. Natural Frequency of Torsional Vibrations

We know that polar moment of inertia of the equivalent shaft
  0.05
4
 d14
J    0.614 106 m4
32 32
Therefore, natural frequency of torsional vibrations

1 GJ 1 80 109  0.614 106

f n  f nA  or f nD     3.33Hz
2 lA I A 2 0.52  216

EXAMPLE – 8

A four cylinder engine and flywheel coupled to a propeller are approximated to a three rotor system in
which the engine is equivalent to a rotor of moment of inertia 800 kg  m 2 , the flywheel to a second
rotor of moment of inertia 320 kg  m 2 and the propeller to a third rotor of moment of inertia
20 kg  m 2 . The first and second rotors being connected by 50 mm diameter and 2 m long shaft and
the second and third rotors being connected by a 25 mm diameter and 2 m long shaft. Neglecting the
inertia of the shaft and taking its modulus of rigidity as 80 GN m 2 , determine

1. Natural frequencies of torsional vibrations and

2. The positions of the nodes

SOLUTION

1. Natural frequencies of torsional vibrations

First of all, replace the given system with the original system as shown in figure. It is assumed
that the diameter of the equivalent shaft is d1  50 mm  0.05 m .
We know that length of the equivalent shaft,

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4
d 
4
 0.05 
l  l1  l2  1   2  2   34 m
 d2   0.025 
Now let us find the position of nodes for the equivalent system.
Let l A  distance of node N1 from rotor A and
lC  distance of node N 2 from rotor C
We know that
l A I A  lC I C
lC I C l  20
 lA   C  0.025 lC
IA 800
1 1  1 1 
Also    
lC I C I B  l1  l A l3  lC 
1 1  1 1 
i.e.    
lC  20 320  2  0.025lC 32  lC 
Simplifying the above equation, we get
1.425 lC 2  78.8 lC  1024  0
Therefore lC  34.42 m or 20.88 m
and l A  0.025 lC  0.86 m or 0.52 m
We see that when lC  34.42 m , then l A  0.86 m . This gives the position of single node for
l A  0.86 m as shown in figure.
The value of lC  20.88 m and corresponding value of l A  0.52 m gives the position of two
nodes as shown in figure.
We know that polar moment of inertia of the equivalent shaft,
  0.05
4
 d14
J    0.614 106 m4
32 32
Therefore, natural frequency of torsional vibrations for a single node system,
1 GJ 1 80 109  0.614 106
f n1    1.345 Hz
2 lA I A 2 0.86  800
Similarly, natural frequency of torsional vibrations for a two node system,
1 GJ 1 80 109  0.614 106
fn2    1.73 Hz
2 lA I A 2 0.52  800

DEPT. OF MECH. ENGG, FISAT Page 23

MECHANICAL VIBRATION-MOD III DILEEP G MENON PH-9496366191

CRITICAL SPEED OF A LIGHT SHAFT HAVING A SINGLE DISC WITHOUT DAMPING

Consider a light vertical shaft

in a deflected position with a single
disc of mass m . Point S is the
geometric centre of the disc through
which the centre line of the shaft
passes. Point G is the centre of gravity
of the disc which is displaced from the
geometric centre through a distance ' e '
because of manufacturing inaccuracies.
Point O is the intersection of the
bearing centre line with the disc which
is deflected through a distance ' r '
from the undeflected position. Let ' k '
be the stiffness of the shaft in bending.

Considering the equilibrium of

the disc, there are two forces acting on
it. The centrifugal force through point
G acts radially outwards and the
resisting force through point S acts
radially inwards. The centrifugal force
is equal to m 2  r  e . The restoring
force is equal to k r . For equilibrium,

m 2  r  e   k r

2
 
  e
 r  
m 2e
   n 

e

e
k  m 2
   2
 c 
2
 Nc 
2

1        1   1

  n       N 

k
where n 
m

When   n , r tends to infinity.

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MECHANICAL VIBRATION-MOD III DILEEP G MENON PH-9496366191

NOTE

 When the shaft is supported in long bearings, the shaft is assumed to be fixed at both ends.
 When the shaft is supported in short bearings or flexible bearings, shaft is assumed to be simply
supported at both ends.
 The critical speed of shaft which carries a point load or uniformly distributed load or a combination of
both is equal to the natural frequency of transverse vibration in rps.
 There are three combinations of speed possible, i.e.   c ,   c and   c .
 When   c , the amplitude ratio becomes infinite which causes severe vibration and excessive
load on bearings and the disc will try to fly out. But we can reduce the amplitude by providing
proper damping to the system.
r
 When   c , the point C lies between O and G , and the ratio is positive.
e
r
 When   c , the ratio is found to be negative. It means that point G lies in between O and
e
C . Thus at high speeds, the disc rotates with centre of gravity inside. In this case disc rotates
about the centre of gravity G and therefore the vibrations will be minimum.

EXAMPLE – 1

Calculate the whirling speed a shaft 20 mm diameter and 0.6 m long carrying a mass 1 kg at its
midpoint. The density of the shaft material is 40 Mg m3 and Young’s modulus is 200 GN m 2 .
Assume the shaft to be freely supported.

SOLUTION

Moment of inertia of area of cross section of the shaft about the neutral axis,

  0.02 
4
d4
I    7.855 109 m4
64 64

Mass of the shaft per unit length,

Area × Length × Density

mshaft 
Length


 0.02 × 0.6 × 40 103
2

i.e. mshaft  4  12.6 kg m

0.6

Therefore, weight of the shaft per unit length, w  mshaft  9.81  12.6  9.81 N m

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MECHANICAL VIBRATION-MOD III DILEEP G MENON PH-9496366191

Static deflection due to 1 kg of mass at the centre,

1 9.81  0.6 
3
Wl 3
   9
 28 106 m
48EI 48  200 10  7.855 10
9

Static deflection due to mass of the shaft,

12.6  9.81  0.6 

4
5 wl 4 5
s   9
 0.133 103 m
384 EI 384 200 10  7.855 10
9

According to Dunkerly’s equation, the transverse vibration frequency,

0.4985 0.4985
fn    43.3 Hz
s 0.133 103
 28 106 
1.27 1.27

Since whirling speed of the shaft in rotations per second  rps  is equal to the frequency of transverse
vibration in Hz , the critical speed

Nc  43.3 rps  43.3  60  2598 rpm

EXAMPLE – 2

A shaft 1.5 m long, supported in flexible

bearings at the ends, carries two wheels each of
50 kg mass. The shaft is hollow with external
diameter 75 mm and internal diameter 40 mm .
Take density of the shaft material as
7700 kg m3 and Young’s modulus as
E  200 GPa . Find the critical speed.

SOLUTION

Young’s modulus of material of the shaft, E  200 GPa  200 109 N m 2

Density of the material of the shaft,   7700 kg m3

Moment of inertia of area of cross section of the shaft about the neutral axis,

  d24  d14    0.0754  0.044 

I    1.43 106 m4
64 64

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 
Area of cross section of the shaft, A 
4
d2 
4
 0.075
2
 0.042   3.161103 m2

Therefore, weight per unit length of the shaft,

w   Ag  7700  3.161103  9.81  238.77 N m

Deflection under the load W1 ,

W1a12b12
1 
3 EI l

50  9.81  0.375  1.125

2 2


3  200 109 1.43 106 1.5

 6.783 105 m

Deflection under the load W2 ,

W2 a2 2b2 2
2 
3 EI l

50  9.81  0.75   0.75

2 2


3  200 109 1.43 106 1.5

 1.206 104 m

The central deflection of the shaft under

the self-weight, which is uniformly
distributed, having an intensity
w  238.77 N m is given by,

5 wl 4
s 
384 EI

238.77  1.5
4
5
   5.503 105 m
384 200 109 1.43 106

DEPT. OF MECH. ENGG, FISAT Page 27

MECHANICAL VIBRATION-MOD III DILEEP G MENON PH-9496366191

According to Dunkerly’s equation, the transverse vibration frequency is given by

0.4985
fn  Hz
s
1   2 
1.27

0.4985
  32.745 Hz
5 5.503 105
4
6.783 10  1.206 10 
1.27

Since the whirling speed or critical speed of shaft is the same as transverse vibration frequency in rps, the
critical speed,

c  32.745 rps or Nc  32.745  60  1964.7 rpm

EXAMPLE – 3

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. Find the critical speed of rotation and the maximum
bearing stress when the shaft is rotating at 75 % of the critical speed. The centre of the disc is at a
distance of 0.25 mm from the axis of the shaft. Take E  200 GPa .

SOLUTION

The moment of inertia of area of cross section of the shaft about the neutral axis is

  0.005
4
d4
I    30.7 1012 m4
64 64

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

50  9.81  0.2 
3
Wl 3
    3.33 103 m
192EI 192  200 109  30.7 1012

Therefore, natural frequency of transverse vibration,

0.4985 0.4985
fn    8.64 Hz
 3.33 103

Therefore, critical speed,

Nc  8.64 rps  8.64  60  518.4 rpm

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MECHANICAL VIBRATION-MOD III DILEEP G MENON PH-9496366191

Maximum Bending Stress

From flexure formula, we know

M 

I y

d
The bending moment M max will be at ymax which is . But from the bending moment diagram, for a
2
fixed beam, the maximum bending moment is induced at the mid cross section of the shaft which is given
by

W1 l
M max 
8

where W1 is the additional dynamic load on the shaft when it rotates (centrifugal force)

Therefore, the flexure formula can be written as

 W1 l 
  
M max
   8   
I ymax I d 
 
2

W1 l I
i.e. 
8 d 
 
2

16  I 16    30.7  1012
Therefore, W1    0.49 106  Newton
dl 0.005  0.2

Therefore, additional deflection due to load W1 ,

W1 0.49 106 
r      3.33 103  3.327 1012  meters
W 50  9.81

e
We know that r  2
 Nc 
  1
 N 

Since the speed is 75 % of critical speed, N  0.75 N c

Substituting for N  0.75 N c , and for r in the above equation, we get

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MECHANICAL VIBRATION-MOD III DILEEP G MENON PH-9496366191

 0.25 103
3.327 1012   2
  0.32 10 3
 Nc 
  1
 0.75 N c 

Taking only the positive value, we get

0.32 103
   0.0962 109 N m2  96.2 MN m2
3.327 1012

EXAMPLE – 4

A vertical steel shaft 15 mm diameter is held in long bearings 1 m apart and carries at its middle a disc
of mass 15 kg . The eccentricity of the centre of gravity of the disc from the centre of the rotor is
0.3 mm and permissible stress is 70 MN m 2 . Determine

(a) Critical speed

(b) The range of speed over which it is unsafe to run the shaft

Take E  200 GPa . Neglect mass of the shaft.

SOLUTION

The moment of inertia of area of cross section about the neutral axis

  0.015
4
d4
I    2.5 109 m4
64 64

Since the shaft is supported in long bearings, it is assumed to be fixed at both ends. Therefore, static
deflection at the centre of the shaft,

15  9.81 1
3
Wl 3
   9
 1.533 103 m
192EI 192  200 10  2.5 10
9

Therefore, natural frequency of transverse vibration,

0.4985 0.4985
fn    12.88 Hz
 1.533  103

Therefore, critical speed,

Nc  12.88 rps  12.88  60  772.8 rpm

Range of Speed

We know that for a fixed beam,

DEPT. OF MECH. ENGG, FISAT Page 30

MECHANICAL VIBRATION-MOD III DILEEP G MENON PH-9496366191

W1 l mg l
M max   1
8 8

Also from flexure formula,

M max  d
 where ymax 
I ymax 2

Substituting all these in the flexure formula, we have

 m1 g l 
 
 8     m1 
16  I
I d  dgl
 
2

16  70 106  2.5 109

i.e. m1   19 kg
0.015  9.811

W1 m 19
We know, r   1   1.533 103  1.9 103 m
W m 15

e e r 1
We also know r  or r    
 c 
2 2 2
 Nc  e  Nc 
  1   1   1
  N   N 

1.9 103
2
1  Nc  0.3
i.e.  3
 or   1     0.16
0.3 10  Nc 
2
 N  1.9
  1
 N 

2
 Nc 
i.e.    1  0.16  1.16 or 0.84
 N 

Nc Nc
Therefore, N  or N 
1.16 0.84

772.8
i.e. N1   718 rpm
1.16

772.8
and N2   843 rpm
0.84

Therefore range of speed over which it is unsafe to run the shaft is 718 rpm to 843 rpm .

DEPT. OF MECH. ENGG, FISAT Page 31

MECHANICAL VIBRATION-MOD III DILEEP G MENON PH-9496366191

EXAMPLE – 5

A disc of mass 4 kg is mounted midway between bearings. The bearing span is 48 cm . The shaft
diameter is 9 mm . The centre of gravity of the disc is displaced 3 mm from the geometric centre. If the
system rotates at 760 rpm , find the amplitude of dynamic force. Take E  200 GN m 2 .

DEPT. OF MECH. ENGG, FISAT Page 32