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CHAPTER 8
f y
k yy
=
k zy
f z
k yz v c yy
k zz w czy
c yz v
czz w
(8.1)
where kij and cij are the stiffness and damping coefficients, with i representing the direction of force
and j representing the direction of displacement and velocity. The eight linearized stiffness and
damping coefficients depend on the steady state operating conditions of the journal, and in particular,
upon the rotational speed.
Figure 8.1 Locus of journal equilibrium position for short bearing (Lee, 1993)
For the short bearing, the dimensionless bearing stiffness and damping coefficients as a function of
the steady state eccentricity ratio of bearing, Kij =kijC/W, Cij =cijC/W, i, j = y, z, are given by Lee
(1993),
K yy =
K yz =
K zy =
)
(
(
)
) }
) }
4 2 + 32 + 2 2 + 2 16 2 4 Q ( )
;
1 2
4 2 + 32 + 2 2 + 2 16 2 4 Q ( )
(1 2 )
) }
2 2 2 2 2 16 2 4 Q ( )
(1
) }
K zz = 4 2 2 + 16 2 2 Q ( )
(8.2)
and
C yy =
C zz =
2 2 + 2 24 2 2 + 2 4 Q ( )
(1
(1 ){
2
) }
+ 2 2 8 2 Q ( )
(8.3)
where
Q ( ) =
{ (1 ) + 16 }
2
2 3/ 2
) }
C yz = C zy = 8 2 + 2 2 8 2 Q ( )
S=
361
N r
=
P C
DLN r
W
.
C
To determine the stiffness and bearing coefficients of a short bearing, we first determine the
Sommerfield number, S. Here W is the bearing radial load, D is the journal diameter, L is the length of
bearing, is the viscosity of lubricant at operating temperature (usually given in the unit of
centipoise, 1 cp = 1.0054(10)-3 Nsec/m2), = 2N the rotational speed of journal, N the number of
revolutions per second, and C is the radial clearance. The eccentricity of the journal center defined as,
= e/C, where e is the journal equilibrium eccentricity. We can then determine the eccentricity ratio
under steady state operating conditions by
2
(1 2 )
L
S =
D 2 (1 2 ) + 16 2
2
(8.4)
While determining the eccentricity ratio, an iteration procedure is required, as equation (8.4) is
transcendental in nature. A plot of S as a function of eccentricity for L/D=0.5 short bearing according
to equation (8.4) is given in Fig. 8.2.
362
Table 8.1
Speed in
rpm
Kyz
Kzy
Kzz
1000
3.936821e+09
6.809046e+08
1.623416e+08
7.643129e+07
2000
2.858729e+09
5.830242e+08
1.363980e+08
7.688122e+07
4000
2.105380e+09
5.503287e+08
1.401673e+08
9.913111e+07
6000
1.635817e+09
7.468616e+08
9.895919e+07
7.810302e+07
8000
1.410633e+09
7.170087e+08
9.035882e+07
7.855623e+07
10000
1.267522e+09
3.968864e+08
8.442852e+07
7.892672e+07
12000
1.151563e+09
3.798138e+08
7.929070e+07
7.929333e+07
14000
1.074176e+09
3.679887e+08
7.566316e+07
7.958118e+07
16000
9.898842e+08
3.546709e+08
7.149753e+07
7.994483e+07
19000
9.075716e+08
3.411792e+08
6.717485e+07
8.036354e+07
Table 8.2
Speed in
rpm
Cyz = Czy
Czz
1000
9.771283e+06
7.665431e+05
1.325797e+05
2000
7.186395e+06
3.852731e+05
9.857461e+04
4000
1.943713e+06
3.343040e+05
8.823743e+04
6000
1.071831e+06
1.302347e+05
3.557666e+04
8000
7.507976e+05
9.817935e+04
2.902359e+04
10000
5.720564e+05
7.887238e+04
2.469650e+04
12000
7.565297e+05
6.599767e+04
2.176765e+04
14000
3.793448e+05
5.675179e+04
1.944188e+04
16000
3.201499e+05
7.985925e+04
1.786434e+04
19000
2.595662e+05
7.218133e+04
1.585703e+04
363
c yy
c
zy
c yz b k yy
{q } + k
czz
zy
k yz b
{q } = { F b }
k zz
(8.5)
where {q b } = {v w} is the bearing displacement vector and cij and kij are the bearing and damping
T
(8.6)
where [Cb] and [Kb] are the bearing damping and stiffness matrices respectively. To determine the
whirl speeds and stability equation (8.6) can be rewritten as
(8.7)
where
[ 0]
M s
,
[ A] =
M s C b G s
M s [ 0]
and
[B] =
[ 0]
K s
{q}
{h} =
{q}
(8.8)
The associated eigen value problem for equation (8.7) is sought from an assumed solution form as
{h} = {h0 } et
(8.9)
[ 0]
1
K s M s
}{
[I ]
{h } = 1 {h }
0
s 1
s 1
s
0
K [ C ] + K G
364
where = + j p is the complex eigen values and p is the natural whirl frequency. The real part of
the eigen value indicates the damping in the system at the given speed and it is associated with each
whirl speed. The parameter of logarithmic decrement, , is defined as
2
p
(8.11)
where represents the instability threshold when < 0. The response of a dynamic system is a decay
function, which involves the damping term. In order to get stable response the amplitude of vibration
should decay as time increases. This will happen if the damping index ( < 0) is negative. Eigen
values are of the form v = ip where p is the natural whirl frequency (speed dependent) and is
the damping. The logarithmic decrement is defined as
where
2
p
is negative stable
is positive
is positive unstable
is negative
> 0 stable
< 0 unstable
Campbell diagram can be drawn similar to gyroscopic couple effects. Here also forward and
backward whirls will occur. Stability can be checked by observing the sine of logarithmic decrement.
Eigen vectors will be complex.
Example 8.1 Obtain the assembled system equations of motion by the finite element method for
transverse vibrations of rotor-bearing system as shown in Figure 8.5. Consider shaft as continuous
system i.e. mass and stiffness is distributed continuously throughout the shaft. The shaft is of 1 m of
span and the diameter is 0.05 m with the mass density of 7800 kg/m3. The shaft is supported at ends
by flexible bearings as shown in Figure 8.5. Consider the motion in both the vertical and horizontal
planes. Discretise the shaft into one-element and show elemental equations for the shaft and bearings.
Take the following bearing properties:
365
For bearing A: kxx = 20 MN/m, kyy = 15 MN/m, kxy = -1.5 MN/m, kyx = 25 MN/m,
cxx = 200 kN-s/m, cxy = 150 kN-s/m, cyx = 140 kN-s/m, cyy = 400 kN-s/m,
and
for bearing B: kxx = 24 MN/m, kyy = 17 MN/m, kxy = -2.5 MN/m, kyx = 30 MN/m,
cxx = 210 kN-s/m, cxy = 160 kN-s/m, cyx = 135 kN-s/m, cyy = 380 kN-s/m.
shaft
bearings
c1yy
1
c zx
1
c1yz u y1 k yy
+ 1
c1zz u z1 k zy
k 1yz u y1 f yb1
=
k 1zz u z1 f zb1
(A)
y
x
x
1
z
z
x
1
(a) A rotor-bearing system
2
c yz2 u y 2 k yy
+
2
c zz2 u z 2 k zy
k yz2 u y 2 f yb2
=
k zz2 u z 2 f zb2
366
(B)
0
c1zy
0 c1yz
0 0
0 c1zz
2
c yy
0
czy2
0 c 2yz
0 0
0 czz2
0 u y1 k 1yy
0 z1 0
+
0 u z1 k 1zy
0 y1 0
0 k 1yz
0 0
0 k 1zz
0 u y 2 k yy2
0 z 2 0
+
0 u z 2 k zy2
0 y 2 0
0 k yz2
0 0
0 k zz2
0 u y1 f yb1
0 z1 0
=
0 u z1 f zb1
0 y1 0
(C)
0 u y 2 f yb2
0 z 2 0
=
0 u z 2 f zb2
0 y 2 0
(D)
and
0
c1zy
0
0
0
0
0 c1yz
0 0
0
0
0 c1zz
0 0
0 0
0 0
0 0
0 0
0 0
0 0
2
0 c yy
0 0
0 czy2
0 0
0
0
0
0
0
0
0 0
0 0
0 c yz2
0 0
0 czz2
0 0
0 u y1 k 1yy
0 z1 0
0 u z1 k 1zy
0 y1 0
+
0 u y 2 0
0 z 2 0
0 u z 2 0
0 y 2 0
0 k 1yz
0 0
0
0
0 k 1zz
0 0
0 0
0 0
0 0
0 0
0 0
0 0
0 k yy2
0 0
0 k zy2
0 0
0
0
0
0
0
0
0 0
0 0
0 k yz2
0 0
0 k zz2
0 0
0 u y1 f yb1
0 z1 0
0 u z1 f zb1
0 y 1 0
=
0 u y 2 f yb2
0 z 2 0
0 u z 2 f zb2
0 y 2 0
EOM of the shaft element considering the single element as shown in Figure 8.5(b), is given as
0 54 13 0
0 uy1
156 22 0
4
0
0 13 3
0
0 z1
156 22 0
0
54 13 uz1
4
0
0
13 3 y1
AL
156 22 0
0 uy 2
420
4
0
0 z 2
156 22 uz 2
4 y 2
sym
367
(E)
6
0
0 12 6
0
0 u y1 S y1
12
6
4
0
0 6 2
0
0 z1 M z1
0
0 12
6
0
0 12 6 u z1 S z1
0
6
4
0
0 6 2 y1 M y1
EI 0
+ 3
=
0 12 6 0
0 u y 2 S y 2
l 12 6 0
2
0
0 6 4
0
0 z 2 M z 2
6
0
0 12 6 0
0 12 6 u z 2 S z 2
0
6
2
0
0 6 4 y 2 M y 2
0
(F)
Combining equations (E) and (F), we get equations of motion of the rotor-bearing system, as
0 54 13 0
0 uy1 c1yy
156 22 0
4
0
0 13 3
0
0 z1 0
156 22 0
0
54 13 uz1 c1zy
4
0
0
13 3 y1 0
AL
+
156 22 0
0 uy 2 0
420
4
0
0 z 2 0
156 22 uz 2 0
4 y 2 0
(12 + k 1yy k ) 6
6
4
1
0
k zy k
0
0
EI
+ 3
l
12
6
6
2
0
0
0
0
0 c1yz
1
zz
0 c
0 0
0
0
0
0
0
0
0
0
0 c yy2
0 c yz2
2
zy
0 czz2
0 0
0
0
0
0
k 1yz k
12
12
(12 + k
12
(12 + k
1
zz
k)
0
2
yy
k ) 6
6
k
1
zy
6
2
yz
k /k
(12 + k
2
zz
k)
0 c
0 0
0 u y1
0 z1
0 u z1
0 y1
0 u y 2
0 z 2
0 u z 2
0 y 2
0
b
u y1 S y1 + f y1 0
0 M
z1
0
z1
6 u z1 S z1 + f zb1 0
2 y1 M y1 0
=
+
b
0 u y 2 S y 2 + f y 2 0
0 z 2 M z 2 0
u z 2 S + f b 0
z2
z2
6
M
y2
y2
4
(G)
In the right hand side the first vector represents reaction forces and moments and second vector is
corresponding to the external forces and moments. The reaction force vector will become zero.
(H)
{h} = [D]{h}
(I)
368
where
[ D ] = 1
[ M ] [ c ]
1
[M ]
;
[ k ]
{u}
{h} =
{u}
(J)
Let
{h} = {h0 }e vt
(K)
(L)
369
K yzb = 0.55 109 N/m, K zyb = 0.14 109 N/m, K zzb = 0.091 109 N/m
C yyb = 1.94 106 N sec/m, C yzb = C zyb = 0.33 106 N sec/m, C zzb = 0.081 106 N sec/m
These bearing characteristics are taken as constants for all other speeds of the rotor i.e. these values
are treated as speed independent characteristics of the bearing for illustration (but we could have take
bearing characteristics at any other spin speeds). In order to illustrate a Jeffcott rotor model (simply
supported massless shaft with a central disk) mounted on flexible identical bearings having direct and
cross-coupled stiffness coefficients (without damping) is analyzed. Critical speeds from the classical
closed form solutions (Rao, 1996; Appendix 8.1) and from the present analysis are tabulated in Table
8.3 for the comparison. It shows that the present code results are in excellent agreement with the
classical solutions.
Table 8.3 Comparisons of critical speeds from classical solutions and from the present analysis for
Jeffcott rotor model (simply supported massless shaft with a central disk) mounted on flexible
identical bearings
Critical speeds from the
Critical speeds from the
classical solutions*
present FEM code
(rad/sec)
(rad/sec) p(7)#
143.85
142.69
140.68
138.92
The whirl frequencies a function of spin speed and the corresponding logarithmic decrements, for the
rotor system shown in Figure 2.3, are tabulated in Table 8.4 for seven-element rotor model. The whirl
frequency map and stability are presented in Fig. 8.5. The letters F and B refers to forward and
backward whirl modes, respectively. The first four critical speeds in forward & backward direction
and logarithmic decrement are tabulated in Table 8.5 for seven and fourteen element models. It is
observed that third & fourth forward whirl mode and all the backward whirl modes are stable for
entire spin-speed envelope studied. Condensation scheme is performed in the case of fourteenelement rotor model. Here all the rotational degrees of freedoms except at lumped mass and bearing
stations taken as slave degrees of freedom (total no. stations = 15, , no. of DOF at each node = 4, total
no. of lumped stations = 4 (at stations 5, 7, 9 & 11), total no. of bearing stations = 2 (at stations 3 and
13), no. of rotational DOF at each node = 2, total no. slave degrees of freedom = (15-6)2 = 18, final
DOF = (154) (92) = 42, final order of eigen value problem = 242 = 84). The first four critical
speeds in forward & backward direction and logarithmic decrement are also tabulated in Table 8.5.
The results show that up to second mode agreement is excellent as compared to the without
condensation scheme, and for third & fourth mode agreement is quite good. The comparison of the
370
critical speeds when the rotor is mounted on fluid film bearings is made with the critical speeds when
the rotor is mounted on rigid bearings and is given in Table 8.6. The comparison shows that with the
bearing characteristics the natural whirl frequencies are decreased especially for higher modes.
Table 8.4 Natural whirl frequency and logarithmic decrement as function of spin speed of a rotorbearing system supported on speed independent bearings.
Spin speed
(rad/sec)
0
418.88
837.76
1047.2
1256.64
1675.52
2097.4
Logarithmic decrement
Forward
Backward
115.68
432.75
693.90
883.11
117.28
436.48
697.1
889.49
119.64
443.57
697.29
901.00
120.85
447.37
697.39
907.43
122.08
451.21
697.49
917.02
127.56
458.94
697.69
927.29
127.07
466.63
697.89
940.40
0.0003
0.0165
0.3313
0.0765
-0.010
-0.007
0.330
0.0824
-0.011
-0.006
0.332
0.0809
-0.011
-0.006
0.3367
0.0802
-0.0121
-0.0056
0.335
0.0089
-0.0128
-0.0045
0.337
0.0792
-0.0136
-0.0034
0.341
0.079
0.0013
0.0010
0.3284
0.0022
0.0104
0.0252
0.3334
0.0001
0.0102
0.0244
0.3356
0.005
0.0099
0.0239
0.3337
0.00723
0.0096
0.02340
0.337
0.0797
0.0090
0.0224
0.339
0.0114
0.0084
0.0216
0.3422
0.01261
113.61
420.59
691.98
847.69
112.03
416.75
692.15
838.44
109.75
409.42
692.30
826.25
108.59
405.47
692.36
819.20
107.43
401.43
692.42
811.80
105.13
393.25
692.51
796.32
102.85
387.98
692.58
780.27
Fig. 8.5 Natural whirl frequency map and stability of rotorbearing system supported on speed
independent bearings.
371
Table 8.5 Critical speeds & logarithmic decrement of a rotor system supported on speed independent bearings
Mode
No.
#p(14)
Forward
Backward
115.00
117.28
115.10
117.29
115.79
117.48
(0.00709)*
(0.0057)
(0.00709)
(0.0057)
(0.0060)
(0.00636)
2
436.63
417.02
436.63
416.44
435.87
415.28
(-0.0076)
(0.0252)
(-0.0076)
(0.0252)
(-0.0069)
(0.024)
3
697.25
692.40
693.56
691.44
691.35
688.27
(0.3319)
(0.3347)
(0.33054)
(0.33372)
(0.339)
(0.00685)
4
903.13
826.44
902.50
825.96
901.5
812.88
(0.0806)
(0.0058)
(0.08077)
(0.00485)
(0.08030
(0.00392)
* The values in the parenthesis are logarithmic decrements, # Values obtained from condensation scheme by
taking the 18 rotational degrees of freedom as slaves at all nodes except at lumped mass bearing nodes.
Table 8.6 Comparison of critical speeds for the rotors mounted on rigid bearings against the fluid film bearings.
Mode
No.
1
2
3
4
116.44
441.83
871.73
1226.35
115.14
427.71
818.5
1135.5
115.00
436.63
697.25
903.13
117.28
417.02
692.40
826.44
1.25
1.19
11.02
26.35
(a) Speed dependent bearing characteristics: The direct as well as cross-coupled stiffness and
damping coefficients are considered as speed dependent. These are calculated from the equations (8.2)
and (8.3) as a function of speed and given in Table 8.1 and 8.2 (For L/D =0.5, bearing load, W =
1888.2 N, radial clearance, C = 0.00254 cm, and viscosity at operating temperature, = 0.0242 N
sec/m2). The natural whirl frequencies, as a function of spin speed is determined from the equation
(8.10) for rotor-bearing system as shown in Figure 2.3. These are tabulated along with the logarithmic
decrement at each spin speed in Table 8.7 for seven-element model and are shown in Fig 8.6. The first
four critical speeds and corresponding logarithmic decrement are tabulated in Table 8.8 for seven and
fourteen element models. It is observed that third & fourth forward whirl mode and all the backward
whirl except fourth modes are stable for entire spin-speed envelope studied. Condensation scheme is
performed in case of fourteen-element model. The selection of slaves and order of eigen value
problem is same as the case (a). Results show that up to second mode agreement is excellent as
compared to the without condensation scheme, and for third & fourth mode agreement is quite good.
At the lower speeds (below 2000 rpm) the natural whirl frequencies happens to be infinite. We would
not able to explain this behaviour.
372
Fig 8.6 Whirl frequency map of rotorbearing system supported on speed dependent fluid film bearings.
Table 8.7 Natural whirl frequencies and logarithmic decrement as function of spin speed of a rotor
bearing system supported on speed dependent fluid film bearings.
Spin speed
Natural whirl frequencies
Logarithmic decrement
(rad/sec)
(rad/sec)
Forward
Backward
Forward
Backward
107.72
115.84
432.98
577.80
847.36
117.22
436.23
688.97
886.48
119.58
443.54
701.63
907.03
120.80
447.45
707.69
911.44
122.04
451.42
708.42.
918.57
123.28
455.39
711.33
925.42
125.79
463.33
717.10
938.74
418.88
837.76
1047.2
1256.64
1466.08
1887.96
113.23
423.15
573.03
*
111.93
416.23
685.16
838.27
109.69
409.17
700.24
826.74
109.69
405.28
705.60
820.17
109.69
401307
708.98
813.27
109.69
397.26
711.61
806.11
103.96
389.11
716.83
791.30
0.015402
0.002445
3.223702
0.003701
-0.00961
-0.00420
0.565563
0.097201
-0.01337
-0.01158
0.267101
0.076321
-0.01468
-0.01378
0.225162
0.075242
-0.01589
-0.01550
0.192820
0.076812
-0.01691
-0.01676
0.169752
0.078994
-0.01904
-0.01883
0.142446
0.087177
0.012393
0.012912
2.882490
*
0.012579
0.040687
0.530957
0.002730
0.012954
0.029706
0.258887
-0.005129
0.012999
0.028400
0.209098
-0.00795
0.013021
0.027825
0.177773
-0.009921
0.012911
0.02741
0.15542
-0.00110
0.012770
0.027341
0.128098
-0.011441
Table 8.8 Critical speeds & logarithmic decrement of a rotor system supported on speed dependent bearings
Mode
No.
1
Backward
Forward
Backward
p(14
Forward
Backward
115.87
113.17
115.90
113.13
115.91
373
113.22
(0.01248)
436.82
(-0.0058)
698.07
(0.22574)
909.62
(0.0778)
2
3
4
(0.00113)
416.44
(0.049)
696.01
(0.31872)
827.50
(-0.0077)
(0.0123)
436.40
(-0.0056)
697.36
(0.22129)
905.96
(0.0701)
(0.00113)
416.30
(0.041)
695.53
(0.3042)
827.12
(-0.0072)
(0.0124)
436.44
(-0.0058)
697.34
(0.2249)
906.35
(0.0778)
(0.00114)
416.25
(0.04896)
692.62
(0.3177)
827.5
(-0.00783)
2
1, 2
12 + 22
2
2 22
2 2
1
+ 1 11 2
2
where
12 =
and
K1 =
K1
K
K
K
; 22 = 2 ; 1 = 12 ; 2 = 21
m
m
K1
K2
K 2 K zz (2 K yy + K ) 4 K zy K yz
(2 K zz + K )(2 K yy + K ) 4 K zy K yz
K 12 =
2 K zy K 2
(2 K zz + K )(2 K yy + K ) 4 K zy K yz
K2 =
K 21 =
K 2 K yy (2 K zz + K ) 4 K zy K yz
(2 K zz + K )(2 K yy + K ) 4 K zy K yz
2 K yz K 2
(2 K zz + K )(2 K yy + K ) 4 K zy K yz
Here the following parameters are chosen: Kyy = 2.1 109 N/m2 & Kzz = 0.091 109 N/m2are the
direct stiffness coefficients, respectively and Kyz = 0.55 109 N/m2 & Kzy = 0.14 109 N/m2are the
cross-coupled stiffness coefficients, respectively. These are obtained for short bearing (L/D = 0.5) at
spin speed = 4000 rpm (these are same as those for speed independent bearing). And K = (n)2m is
the stiffness of the simple Jeffcott rotor, n = 145.27 rad/sec (chosen from Table 2.2 for first mode) is
the rigid bearing critical speed and m = 241.2 kg (total mass of four disks) is mass of the central disk
mounted on the shaft. The length and the diameter of the shaft are 3.5 m and 0.00522 m, respectively.
REFERENCES
Lee C.-W., 1993, Vibration Analysis of Rotors, Kluwer Academic Publishers, London.
Rao, J. S., Rotor Dynamics, New Age International Publishers, Third Edition, 1996.
Exercise 8.1 A long rigid symmetric rotor is supported at ends by two identical bearings. Let the
shaft has the diameter of 0.2 m, the length of shaft is 1 m and the mass density of the shaft material
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equal to 7800 kg/m3. The bearing dynamic characteristics are as follows: kxx = kyy = 1 kN/mm with
other stiffness and damping terms equal to zero. By considering the gyroscopic effect also, obtain
whirl natural frequencies of the system, if rotor is rotating at 10, 000 rpm.
Exercise 8.2 Find the critical speeds of the rotor bearing system shown in Figure E8.2. The shaft is
made of steel with Youngs modulus E = 2.1 (10)11 N/m2 and uniform diameter d = 10 mm. Treat the
shaft as flexible and massless. The mass of the disc is: md = 1 kg with negligible diamentral mass
moment of inertia. Bearings B1 and B2 are identical bearings and having the following properties: kyy
= 1.1 kN/m, kzz = 1.8 kN/m, kyz = 0.2 kN/m and kzy = 0.1 kN/m. The various shaft lengths are as
follows: B1D = 75 mm, and DB2 = 50 mm. Give the detailed steps involved in formulation of the
system equations.
X
Y
B1
B2
Z
Figure E8.2
Exercise 8.3 Obtain critical speeds of a rotor-bearing system as shown in Figure E8.2. The shaft is
made of steel with Youngs modulus E = 2.1 (10)11 N/m2, mass density of = 7800 kg/m3 and
uniform diameter d = 10 mm. Treat the shaft as flexible and having distributed mass. The mass of the
disc is: md = 1 kg with the diamentral mass moment of inertia Id = 0.02 kg-m2 and negligible polar
mass moment of inertia (i.e. gyroscopic effects neglected). Bearings B1 and B2 are identical bearings
and can be assumed as short bearing with L/D = 0.25, D = 10 mm and cr = 1 m. The kinetic
viscosity, , of the lubricant is 28 centi-Stokes at operating temperature ( 400 C ) and the specific
gravity is 0.87. Plot and use the short bearing dynamic parameters as given in Appendix 8.1. The
various shaft lengths are as follows: B1D = 75 mm, and DB2 = 50 mm. Give the detailed steps
involved in formulation of system equations.
Exercise 8.4 (a) Find the bending critical speed of the system shown in Figure E8.2 in which the disc
is made of solid steel with a diameter of 127 mm, and a thickness of 25.4 mm. The mass density of
the steel is 7800 kg/m3. The disc D is placed in the middle of a shaft and the total length of the steel
shaft between bearings is 508 mm, and its diameter is 12.7 mm. The bearings have equal flexibility in
all directions, the constant for either one of them being k = 175 N/m. (b) Solve the same problem as
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part (a) except that the bearings have different vertical and horizontal flexibilities: khoz = 175 N/m and
khoz = 350 N/m for each of the bearings. Neglect the cross-coupled stiffness coefficients and the mass
of the shaft.
Exercise 8.5 Draw the first three modes, associated with the lowest three natural frequencies of a
flexible uniform shaft as hwon In Figure E8.5, with increasing support stiffness i.e.
(i) K = 0 (ii) 0 < K < (iii) K .
Figure E8.5
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