Flexibility Influence coefficients

 As seen earlier, the computation of stiffness influence coefficients requires the application of the

principles of statics and some algebraic manipulation.

 Further, in order to generate 𝒏 stiffness influence coefficients 𝑲𝟏𝒋 , 𝑲𝟐𝒋 , 𝑲𝟑𝒋 … . . 𝑲𝒏𝒋 for any specific 𝒋

requires the solution of 𝒏 simultaneous linear equations.

 Hence 𝒏 sets of linear equations with 𝒏 equations for each set are to be solved to generate all the

stiffness influence coefficients of an 𝒏-degree-of-freedom system.

 This clearly involves a significant computational effort especially for large values of 𝒏.

 However, generation of the flexibility influence coefficients proves to be simpler and more convenient.

 To illustrate this let us consider again the same spring-mass system shown in figure below.
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 Let us assume that the system shown in figure above be acted on by a single force 𝑭𝒋 at a node say 𝒋,

that is, at mass 𝒎𝒋 and the corresponding displacement at another node (mass 𝒎𝒊 ) due to this force 𝑭𝒋

at node 𝒋 be 𝒙𝒊𝒋 .

 The flexibility influence coefficient, which denoted by 𝒇𝒊𝒋 is defined as the deflection at node 𝒊 due to a

unit load at node 𝒋.

 Considering the system to be a linear system, deflection increases proportionately with the load.

 Hence we can write 𝑭𝒋 = 𝑲𝒊𝒋 𝒙𝒊𝒋 .

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 𝟏
 Or from this 𝒙𝒊𝒋 = 𝑲 𝑭𝒋 = 𝒇𝒊𝒋 𝑭𝒋 .
𝒊𝒋

𝟏
 Where 𝒇𝒊𝒋 = 𝑲 , is the flexibility influence coefficient.
𝒊𝒋

 Hence flexibility influence coefficient is defined as the deflection at node (point) 𝒊 due to a unit load at

node (point) 𝒋.

 When many such forces are acting at different nodes of the system, the total deflection at any node 𝒊 is

obtained by adding the deflections due to all these forces at the same node 𝒊.

 That is 𝒙𝒋 = σ𝒏𝒋=𝟏 𝒙𝒊𝒋 = σ𝒏𝒋=𝟏 𝒇𝒊𝒋 𝑭𝒋 , for all values of 𝒊 = 𝟏, 𝟐, 𝟑, … 𝒏.

 In matrix form the same equation may be written as 𝒙 = 𝒇 𝑭 , where 𝒙 and 𝑭 are displacement

and force vectors. 3

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 The elements of the flexibility influence coefficients matrix in matrix form are written as

𝒇𝟏𝟏 𝒇𝟏𝟐 𝒇𝟏𝒏

𝒇𝟐𝟏 𝒇𝟐𝟐 𝒇𝟐𝒏
 𝒇 =

𝒇𝒏𝟏 𝒇𝒏𝟐 𝒇𝒏𝒏

 Also note that the deflection at one node 𝒊 due to a unit load at another node 𝒋 is the same as the

deflection at node 𝒋 due to a unit load at node 𝒊 for linear systems.

 𝒇𝒊𝒋 = 𝒇𝒋𝒊

 This is known as Maxwell’s reciprocity theorem. 4

DE ZG611 Dynamics and Vibrations BITS Pilani, Hyderabad Campus

 That is we can write that 𝒇𝒊𝒋 = 𝒇𝒋𝒊 .

 The flexibility influence coefficients of a torsional system are obtained by applying unit torque 𝑻𝒋 at a

node 𝒋 and determining the angular deflection 𝜽𝒊𝒋 it causes at another node 𝒊.

 For example, in case of a multi-rotor torsional system, 𝑭𝒊𝒋 can be defined as the angular deflection of

node 𝒊, which is rotor 𝒊, due to a unit torque at another rotor 𝒋.

DE ZG611 Dynamics and Vibrations BITS Pilani, Hyderabad Campus

Flexibility Influence coefficients

 Example: To illustrate the procedure to determine the flexibility influence coefficients let us consider a

three degree of freedom system shown in figure below.

 Let 𝒙𝟏 , 𝒙𝟐 and 𝒙𝟑 denote the displacements of the masses 𝒎𝟏 , 𝒎𝟐 and 𝒎𝟑 respectively.

 The flexibility influence coefficients 𝒇𝒊𝒋 of the system are determined in terms of the spring stiffnesses

𝑲𝟏 , 𝑲𝟐 and 𝑲𝟑 as follows.

 First apply a unit force at mass 𝒎𝟏 alone with zero force at other two masses 𝒎𝟐 and 𝒎𝟑 ,

 that is 𝑭𝟏 = 𝟏 and 𝑭𝟐 = 𝟎 = 𝑭𝟑 as shown in figure below.

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 The resulting deflections 𝒙𝟏 , 𝒙𝟐 and 𝒙𝟑 of the masses 𝒎𝟏 , 𝒎𝟐 and 𝒎𝟑 are 𝒇𝟏𝟏 , 𝒇𝟐𝟏 and 𝒇𝟑𝟏 respectively as

shown in figure above.

 Using the free-body diagrams of the three masses as shown in figure above, the equilibrium of forces in

the horizontal direction for the various masses gives the following equations.

 𝑭𝟏 − 𝑲𝟏 𝒙𝟏 − 𝑲𝟐 𝒙𝟏 − 𝒙𝟐 = 𝟎,

 𝑭𝟐 − 𝑲𝟑 𝒙𝟐 − 𝒙𝟑 + 𝑲𝟐 𝒙𝟏 − 𝒙𝟐 = 𝟎 and

 𝑭𝟑 + 𝑲𝟑 𝒙𝟐 − 𝒙𝟑 = 𝟎.
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 𝑭𝟏 − 𝑲𝟏 𝒙𝟏 − 𝑲𝟐 𝒙𝟏 − 𝒙𝟐 = 𝟎,  𝑭𝟐 − 𝑲𝟑 𝒙𝟐 − 𝒙𝟑 + 𝑲𝟐 𝒙𝟏 − 𝒙𝟐 = 𝟎  𝑭𝟑 + 𝑲𝟑 𝒙𝟐 − 𝒙𝟑 = 𝟎.

 Substituting the values of each 𝑭𝒊 and 𝒙𝒊 as shown in the figure below,

 𝟏 − 𝑲𝟏 𝒇𝟏𝟏 − 𝑲𝟐 𝒇𝟏𝟏 − 𝒇𝟐𝟏 = 𝟎,

 𝟎 − 𝑲𝟑 𝒇𝟐𝟏 − 𝒇𝟑𝟏 + 𝑲𝟐 𝒇𝟏𝟏 − 𝒇𝟐𝟏 = 𝟎 and

 𝟎 + 𝑲𝟑 𝒇𝟐𝟏 − 𝒇𝟑𝟏 = 𝟎.

 From the equation 𝟎 + 𝑲𝟑 𝒇𝟐𝟏 − 𝒇𝟑𝟏 = 𝟎, we get 𝒇𝟐𝟏 = 𝒇𝟑𝟏 ;

 From the equation 𝟎 − 𝑲𝟑 𝒇𝟐𝟏 − 𝒇𝟑𝟏 + 𝑲𝟐 𝒇𝟏𝟏 − 𝒇𝟐𝟏 = 𝟎, we get 𝒇𝟏𝟏 = 𝒇𝟐𝟏 .

 And finally from the equation 𝟏 − 𝑲𝟏 𝒇𝟏𝟏 − 𝑲𝟐 𝒇𝟏𝟏 − 𝒇𝟐𝟏 = 𝟎, we get 𝑲𝟏 𝒇𝟏𝟏 = 𝟏.

𝟏
 Or 𝒇𝟏𝟏 = 𝑲 .
𝟏

DE ZG611 Dynamics and Vibrations BITS Pilani, Hyderabad Campus

 𝟏
 Hence 𝒇𝟏𝟏 = 𝒇𝟐𝟏 = 𝒇𝟑𝟏 = 𝑲 .
𝟏

 Next, let us apply unit force at mass 𝒎𝟐 and zero force at masses 𝒎𝟏 and 𝒎𝟑 ,

 that is 𝑭𝟐 = 𝟏 and 𝑭𝟏 = 𝟎 = 𝑭𝟑 as shown in figure below

 The resulting deflections 𝒙𝟏 , 𝒙𝟐 and 𝒙𝟑 of the masses 𝒎𝟏 , 𝒎𝟐 and 𝒎𝟑 are 𝒇𝟏𝟐 , 𝒇𝟐𝟐 and 𝒇𝟑𝟐 respectively as

shown in figure above.

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 Using the free-body diagrams of the three masses as shown in figure below, the equilibrium of forces in

the horizontal direction for the various masses gives the following equations

 𝑭𝟏 − 𝑲𝟏 𝒙𝟏 − 𝑲𝟐 𝒙𝟏 − 𝒙𝟐 = 𝟎,

 𝑭𝟐 − 𝑲𝟑 𝒙𝟐 − 𝒙𝟑 + 𝑲𝟐 𝒙𝟏 − 𝒙𝟐 = 𝟎 and

 𝑭𝟑 + 𝑲𝟑 𝒙𝟐 − 𝒙𝟑 = 𝟎.

 Substituting the values of each 𝑭𝒊 and 𝒙𝒊 as shown in the figure above,

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 𝟎 − 𝑲𝟏 𝒇𝟏𝟐 − 𝑲𝟐 𝒇𝟏𝟐 − 𝒇𝟐𝟐 = 𝟎,

 𝟏 − 𝑲𝟑 𝒇𝟐𝟐 − 𝒇𝟑𝟐 + 𝑲𝟐 𝒇𝟏𝟐 − 𝒇𝟐𝟐 = 𝟎 and

 𝟎 + 𝑲𝟑 𝒇𝟐𝟐 − 𝒇𝟑𝟐 = 𝟎.

 From the equation 𝟎 + 𝑲𝟑 𝒇𝟐𝟐 − 𝒇𝟑𝟐 = 𝟎, we get 𝒇𝟐𝟐 = 𝒇𝟑𝟐 ;

 From the equation 𝟏 − 𝑲𝟑 𝒇𝟐𝟐 − 𝒇𝟑𝟐 + 𝑲𝟐 𝒇𝟏𝟐 − 𝒇𝟐𝟐 = 𝟎, we get 𝑲𝟐 𝒇𝟏𝟐 − 𝒇𝟐𝟐 = −𝟏.

 And finally from the equation 𝟎 − 𝑲𝟏 𝒇𝟏𝟐 − 𝑲𝟐 𝒇𝟏𝟐 − 𝒇𝟐𝟐 = 𝟎, we get 𝑲𝟏 𝒇𝟏𝟐 = 𝟏.

𝟏
 Or 𝒇𝟏𝟐 = 𝑲 .
𝟏

 Then from the equation 𝑲𝟐 𝒇𝟏𝟐 − 𝒇𝟐𝟐 = −𝟏.

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 𝟏 𝟏 𝟏
 𝒇𝟐 = 𝒇𝟏𝟐 + 𝑲 = 𝑲 + 𝑲 .
𝟐 𝟏 𝟐

𝟏 𝟏
 Hence 𝒇𝟑𝟐 = 𝒇𝟐𝟐 = 𝑲 + 𝑲 .
𝟏 𝟐

 Finally, apply unit force to mass 𝒎𝟑 and zero force to masses 𝒎𝟏 and 𝒎𝟐 that is

 𝑭𝟑 = 𝟏 and 𝑭𝟏 = 𝟎 = 𝑭𝟐 as shown in figure below

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 The resulting deflections 𝒙𝟏 , 𝒙𝟐 and 𝒙𝟑 of the masses 𝒎𝟏 , 𝒎𝟐 and 𝒎𝟑 are 𝒇𝟏𝟑 , 𝒇𝟐𝟑 and 𝒇𝟑𝟑 respectively as

shown in figure below.

 Using the free-body diagrams of the three masses as shown in figure below, the equilibrium of forces in

the horizontal direction for the various masses gives the following equations.

 𝑭𝟏 − 𝑲𝟏 𝒙𝟏 − 𝑲𝟐 𝒙𝟏 − 𝒙𝟐 = 𝟎,

 𝑭𝟐 − 𝑲𝟑 𝒙𝟐 − 𝒙𝟑 + 𝑲𝟐 𝒙𝟏 − 𝒙𝟐 = 𝟎 and

 𝑭𝟑 + 𝑲𝟑 𝒙𝟐 − 𝒙𝟑 = 𝟎. 13

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  𝑭𝟏 − 𝑲𝟏 𝒙𝟏 − 𝑲𝟐 𝒙𝟏 − 𝒙𝟐 = 𝟎,
 𝑭𝟐 − 𝑲𝟑 𝒙𝟐 − 𝒙𝟑 + 𝑲𝟐 𝒙𝟏 − 𝒙𝟐 = 𝟎 and
 𝑭𝟑 + 𝑲𝟑 𝒙𝟐 − 𝒙𝟑 = 𝟎.

 Substituting the values of each 𝑭𝒊 and 𝒙𝒊 as shown in the figure below,

 𝟎 − 𝑲𝟏 𝒇𝟏𝟑 − 𝑲𝟐 𝒇𝟏𝟑 − 𝒇𝟐𝟑 = 𝟎,

 𝟎 − 𝑲𝟑 𝒇𝟐𝟑 − 𝒇𝟑𝟑 + 𝑲𝟐 𝒇𝟏𝟑 − 𝒇𝟐𝟑 = 𝟎 and

 𝟏 + 𝑲𝟑 𝒇𝟐𝟑 − 𝒇𝟑𝟑 = 𝟎.

𝟏
 From the equation 𝟏 + 𝑲𝟑 𝒇𝟐𝟑 − 𝒇𝟑𝟑 = 𝟎, we get 𝒇𝟐𝟑 − 𝒇𝟑𝟑 = − 𝑲 ;
𝟑

 From the equation 𝟎 − 𝑲𝟑 𝒇𝟐𝟑 − 𝒇𝟑𝟑 + 𝑲𝟐 𝒇𝟏𝟑 − 𝒇𝟐𝟑 = 𝟎, we get 𝑲𝟐 𝒇𝟏𝟑 − 𝒇𝟐𝟑 = −𝟏.

 And finally from the equation 𝟎 − 𝑲𝟏 𝒇𝟏𝟑 − 𝑲𝟐 𝒇𝟏𝟑 − 𝒇𝟐𝟑 = 𝟎, we get 𝑲𝟏 𝒇𝟏𝟑 = −𝑲𝟐 𝒇𝟏𝟑 − 𝒇𝟐𝟑 = 𝟏.

𝟏
 Or 𝒇𝟏𝟑 = 𝑲 .
𝟏

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 𝟏
 𝒇𝟏𝟏 = 𝑲 .
𝟏
𝟏
 𝒇𝟐𝟏 = .
𝑲𝟏
𝟏
𝟏 𝟏 𝟏  𝒇𝟑𝟏 = 𝑲 .
 Then from the equation 𝑲𝟐 𝒇𝟏𝟑 − 𝒇𝟐𝟑 = −𝟏 𝒇𝟐𝟑 = 𝒇𝟏𝟑 + 𝑲 = 𝑲 + 𝑲 . 𝟏
𝟐 𝟏 𝟐
𝟏
 𝒇𝟏𝟐 = 𝑲 .
𝟏
𝟏 𝟏 𝟏 𝟏 𝟏
 Hence from the equation 𝒇𝟐𝟑 − 𝒇𝟑𝟑 = − 𝑲 𝒇𝟑𝟑 = 𝒇𝟐𝟑 + 𝑲 = 𝑲 + 𝑲 + 𝑲 . 𝟏
 𝒇𝟐𝟐 = 𝑲 + 𝑲 .
𝟏
𝟑 𝟑 𝟏 𝟐 𝟑 𝟏 𝟐
𝟏 𝟏
 𝒇𝟑𝟐 = +𝑲 .
𝑲𝟏 𝟐
𝟏 𝟏 𝟏 𝟏 𝟏 𝟏
 Hence 𝒇𝟏𝟑 = 𝑲 , 𝒇𝟐𝟑 = 𝑲 + 𝑲 and 𝒇𝟑𝟑 = +𝑲 +𝑲 . 𝟏
𝟏 𝟏 𝟐 𝑲𝟏 𝟐 𝟑  𝒇𝟏𝟑 = 𝑲
𝟏
𝟏 𝟏
 Using all these results the flexibility influence coefficients matrix is written as  𝒇𝟐𝟑 = 𝑲 + 𝑲
𝟏 𝟐
𝟏 𝟏 𝟏
 𝒇𝟑𝟑 = +𝑲 +𝑲
𝑲𝟏 𝟐 𝟑
𝟏 𝟏 𝟏
𝑲𝟏 𝑲𝟏 𝑲𝟏
𝟏 𝟏 𝟏 𝟏 𝟏
 𝒇 = 𝑲𝟏 𝑲𝟏
+𝑲 𝑲𝟏
+𝑲
𝟐 𝟐
𝟏 𝟏 𝟏 𝟏 𝟏 𝟏
+ + +𝑲
𝑲𝟏 𝑲𝟏 𝑲𝟐 𝑲𝟏 𝑲𝟐 𝟑
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Flexibility Coefficients Matrix for a Beam

 Example: Derive the flexibility matrix of the weightless beam shown in figure below treating the beam as

simply supported at both ends and the spacing between the three masses is equal. Assume that the

beam has uniform flexural rigidity 𝑬𝑰

 Solution: Considering the simply supported beam shown in figure above, let 𝒙𝟏 , 𝒙𝟐 & 𝒙𝟑 denote the

total transverse deflection of the masses 𝒎𝟏 , 𝒎𝟐 & 𝒎𝟑 respectively.

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 Using the formula for the deflection of a pinned-pinned beam, the influence coefficients 𝒇𝟏𝒋 for 𝒋 =

𝟏, 𝟐 &𝟑 can be found by applying a unit load at the location of 𝒎𝟏 and zero load at the locations of 𝒎𝟐

and 𝒎𝟑 as shown in figure below.

 The corresponding three influence coefficients 𝒇𝟏𝟏 , 𝒇𝟏𝟐 and 𝒇𝟏𝟑 are given by

𝟗𝒍𝟑 𝟏𝟏𝒍𝟑 𝟕𝒍𝟑

 𝒇𝟏𝟏 = , 𝒇𝟏𝟏 = and 𝒇𝟏𝟑 = .
𝟕𝟔𝟖𝑬𝑰 𝟕𝟔𝟖𝑬𝑰 𝟕𝟔𝟖𝑬𝑰
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 Similarly, by applying a unit load at the locations of 𝒎𝟐 and 𝒎𝟑 one at a time and zero load at other two

locations remaining six flexibility influence coefficients are obtained.

 The loading and corresponding flexibility influence coefficients are given below.

 Again using the formula for the deflection of a pinned-pinned beam, the second set of three influence

coefficients 𝒇𝟐𝟏 , 𝒇𝟐𝟐 and 𝒇𝟐𝟑 are given by

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 𝒇𝟐𝟏 , 𝒇𝟐𝟐 and 𝒇𝟐𝟑 are given by

𝟏𝟏𝒍𝟑 𝒍𝟑 𝟏𝟏𝒍𝟑
 𝒇𝟐𝟏 = , 𝒇𝟐𝟐 = and 𝒇𝟐𝟑 = .
𝟕𝟔𝟖𝑬𝑰 𝟒𝟖𝑬𝑰 𝟕𝟔𝟖𝑬𝑰

 Finally using the formula for the deflection of a pinned-pinned beam, shown in figure below, the third set

of three influence coefficients 𝒇𝟑𝟏 , 𝒇𝟑𝟐 and 𝒇𝟑𝟑 are given by

𝟕𝒍𝟑 𝟏𝟏𝒍𝟑 𝟗𝒍𝟑

 𝒇𝟑𝟏 = , 𝒇𝟑𝟐 = and 𝒇𝟑𝟑 = .
𝟕𝟔𝟖𝑬𝑰 𝟕𝟔𝟖𝑬𝑰 𝟕𝟔𝟖𝑬𝑰

 Clearly here 𝒇𝟏𝟐 = 𝒇𝟐𝟏 , 𝒇𝟐𝟑 = 𝒇𝟑𝟐 and 𝒇𝟏𝟑 = 𝒇𝟑𝟏 .

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 Assembling all these nine influence coefficients, we get the influence coefficients matrix as given

below.

𝟗𝒍𝟑 𝟏𝟏𝒍𝟑 𝟕𝒍𝟑

𝟕𝟔𝟖𝑬𝑰 𝟕𝟔𝟖𝑬𝑰 𝟕𝟔𝟖𝑬𝑰
𝟏𝟏𝒍𝟑 𝟏𝟔𝒍𝟑 𝟏𝟏𝒍𝟑
 𝒇 =
𝟕𝟔𝟖𝑬𝑰 𝟕𝟔𝟖𝑬𝑰 𝟕𝟔𝟖𝑬𝑰
𝟕𝒍𝟑 𝟏𝟏𝒍𝟑 𝟗𝒍𝟑
𝟕𝟔𝟖𝑬𝑰 𝟕𝟔𝟖𝑬𝑰 𝟕𝟔𝟖𝑬𝑰

𝟗 𝟏𝟏 𝟕
𝒍𝟑
 Or 𝒇 = 𝟏𝟏 𝟏𝟔 𝟏𝟏
𝟕𝟔𝟖𝑬𝑰
𝟕 𝟏𝟏 𝟗

20

DE ZG611 Dynamics and Vibrations BITS Pilani, Hyderabad Campus

Inertia Influence coefficients

 The elements of the mass matrix, 𝒎𝒊𝒋 are known as the inertia influence coefficients and

 the matrix is inertia influence coefficients matrix 𝒎 .

 It is very convenient to derive the inertia influence coefficients using the kinetic energy of the system.

 However, the inertia influence coefficients may also be determined using the impulse-momentum

equations.

 The impulse-momentum equation is 𝑭𝒅𝒕 = 𝒅 𝒎𝒗 , where 𝑭𝒅𝒕 is the impulse and 𝒅 𝒎𝒗 is the change in

momentum.

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DE ZG611 Dynamics and Vibrations BITS Pilani, Hyderabad Campus

 The inertia influence coefficients say 𝒎𝟏𝒋 , 𝒎𝟐𝒋 , 𝒎𝟑𝒋 … . 𝒎𝒏𝒋 are defined as

 the set of impulses applied at points say 𝟏, 𝟐, 𝟑 … . 𝒏 respectively, to produce a unit velocity at point

𝒋 and zero velocity at every other point.

 That is, we impose on the system velocities as 𝒙ሶ 𝟏 = 𝟏, 𝒙ሶ 𝟐 = 𝟎, 𝒙ሶ 𝟑 = 𝟎 … . . 𝒙ሶ 𝒏 = 𝟎 etc.

 Thus, for a multi degree-of-freedom system, the total impulse at a point 𝒋 can be found by adding the

impulses due to all velocities such as 𝒙ሶ 𝒋 for all 𝒋 = 𝟏, 𝟐, 𝟑, … 𝒏.

 This is given by 𝑭𝒊 = σ𝒏𝒋=𝟏 𝒎𝒊𝒋 𝒙ሶ 𝒋 .

22

DE ZG611 Dynamics and Vibrations BITS Pilani, Hyderabad Campus

 This relation may be written as 𝑭 = 𝒎 𝒙ሶ ,

 where 𝑭 , 𝒎 and 𝒙ሶ are respectively impulse, mass and velocity vectors.

 Impulse and velocity vectors are column vectors given by

 𝑭 = 𝑭 𝟏 , 𝑭𝟐 , … 𝑭𝒏 𝑻 and

 𝒙ሶ = 𝒙ሶ 𝟏 , 𝒙ሶ 𝟐 . 𝒙ሶ 𝟑 , … . . 𝒙ሶ 𝒏 𝑻 .
𝒎𝟏𝟏 𝒎𝟏𝟐 𝒎𝟏𝒏
𝒎𝟐𝟏 𝒎𝟐𝟐 𝒎𝟏𝒏
 And the inertia influence coefficients matrix 𝒎 = .

𝒎𝒏𝟏 𝒎𝒏𝟐 𝒎𝒏𝒏

23

DE ZG611 Dynamics and Vibrations BITS Pilani, Hyderabad Campus

 It is to be noted that the inertia influence coefficients matrices are symmetric for a linear system.

 That is, 𝒎𝒊𝒋 = 𝒎𝒋𝒊

 The procedure followed to determine the inertia influence coefficients of a multi degree-of-freedom

system is explained here.

 Assume that a set of impulses 𝒈𝒊𝒋 are applied at various points 𝒊 for all 𝒊 = 𝟏, 𝟐 … . 𝒏 so that a unit velocity

is produced at another point 𝒋.

 Let the starting case be at 𝒋 = 𝟏, we have 𝒙ሶ 𝟏 = 𝟏 and a zero velocity at all other points.
24

DE ZG611 Dynamics and Vibrations BITS Pilani, Hyderabad Campus

 The corresponding set of impulses 𝒈𝒊𝒋 denote the inertia influence coefficients 𝒎𝒊𝒋 , for all 𝒊 =

𝟏, 𝟐, … . , 𝒏.

 This the procedure is repeated for 𝒋 = 𝟐, 𝟑, … . 𝒏.

 Also it is to be noted that if the coordinate is an angular coordinate,

 then 𝜽ሶ 𝒋 represents an angular velocity and 𝑴𝒋 indicates an angular impulse.

 The following example is used to illustrate the procedure of determining the inertia influence

coefficients 𝒎𝒊𝒋
25

DE ZG611 Dynamics and Vibrations BITS Pilani, Hyderabad Campus

Example of Inertia Influence coefficients

 Example: Find the inertia influence coefficients of the trailer compound pendulum shown in figure below.

 Solution: Let the linear and angular positions of the trailer (𝑴) and the compound pendulum (𝒎) are

denoted by the coordinates 𝒙(𝒕) and 𝜽(𝒕) respectively as shown in the figure above.
26

DE ZG611 Dynamics and Vibrations BITS Pilani, Hyderabad Campus

 The inertia influence coefficients are determined by applying the impulses of magnitudes

 𝒎𝟏𝟏 and 𝒎𝟐𝟏 are applied along the directions 𝒙(𝒕) and 𝜽(𝒕) to give the velocities 𝒙ሶ = 𝟏 and 𝜽ሶ = 𝟎.

 Hence the linear impulse momentum equation gives 𝒎𝟏𝟏 = 𝑴 + 𝒎 ∗ 𝒙ሶ = 𝑴 + 𝒎 ∗ 𝟏 = 𝑴 + 𝒎 .

 And the angular impulse momentum equation with moment about pivot of the pendulum gives

𝒍 𝒍 𝒎𝒍
 𝒎𝟐𝟏 = 𝒎 ∗ 𝒙ሶ ∗ 𝟐 = 𝒎 ∗ 𝟏 ∗ 𝟐 = .
𝟐

27

DE ZG611 Dynamics and Vibrations BITS Pilani, Hyderabad Campus

 Next, impulses of magnitudes 𝒎𝟏𝟐 and 𝒎𝟐𝟐 are applied along the directions 𝒙(𝒕) and 𝜽(𝒕) to obtain the

velocities 𝒙ሶ = 𝟎 and 𝜽ሶ = 𝟏.

𝒍 𝒍 𝒎𝒍
 Then the linear impulse-momentum equation gives 𝒎𝟏𝟐 = 𝒎 ∗ 𝟐 ∗ 𝜽ሶ = 𝒎 ∗ 𝟐 ∗ 𝟏 = .
𝟐

 Finally the angular impulse momentum equation with moment about pivot of the pendulum gives 𝒎𝟐𝟐 =

𝒎𝒍𝟐 𝒎𝒍 𝟐
𝑰𝜽ሶ = 𝟑 ∗ 𝟏 = 𝟑 .

28

DE ZG611 Dynamics and Vibrations BITS Pilani, Hyderabad Campus

 Therefore assembling all these individual inertia influence coefficients, the mass or inertia influence

coefficients matrix of the trailer compound pendulum is given by

𝒎𝒍
𝑴+𝒎 𝟐
 𝒎 = 𝒎𝒍 𝒎𝒍𝟐
.
𝟐 𝟑

THANK YOU 29

DE ZG611 Dynamics and Vibrations BITS Pilani, Hyderabad Campus

 Whirling Speeds
 Consider a disc of mass 𝒎 supported by a shaft in two end bearings.

 AS the shaft along with the disc starts rotating with an

o
eccentricity of the mass of 𝒆 as shown in figure, due to s
centrifugal force shaft gets deflected.

 Due to this unbalanced force new position of the shaft

(and disc) axis and the axis of bearings is shown in
figure.
 Here 𝑶 is the point of intersection of axis of bearings
with disc plane, 𝑺 is that of disc and shaft and 𝑮 is the
mass center of the disc.

DE ZG611 Dynamics and Vibrations BITS Pilani, Hyderabad Campus

 Let the mass centre 𝑮 be at 𝒆 from the shaft center 𝑺 and shaft center be at a radial
distance of 𝒓 as shown.
 This rotating shaft along with the disc tend to bow out
at a certain speed under such conditions.

 And cause whirling of shaft.

 Whirling is defined as the rotation of the plane made by the deflected shaft and the line of
bearings centres.

 This phenomenon of Whirl occurs dues reasons like mass unbalance, Hysteresis damping in
the shaft, gyroscopic effects, viscosity in bearings etc.

DE ZG611 Dynamics and Vibrations BITS Pilani, Hyderabad Campus

  Whirling of shafts can occur in the same or opposite sense to that of shaft rotation and
whirling speed may or may not be equal to rotational speed.

 Again consider the shaft with disc of mass 𝒎 supported by a shaft in two end bearings and
eccentricity of mass center by 𝒆.

 The shaft along with the disc deflects by 𝒚 due to rotation of the shaft at an
angular speed of 𝝎 and stiffness of the shaft be 𝒌.

DE ZG611 Dynamics and Vibrations BITS Pilani, Hyderabad Campus

 𝝎
 Then 𝒎 𝒚 + 𝒆 𝝎𝟐 = 𝒌𝒚
𝒚
𝒆
 Or 𝒎𝒆𝝎𝟐 = 𝒌𝒚 − 𝒎𝒚𝝎𝟐
𝒎𝒈
 That is 𝒎𝒆𝝎𝟐 = 𝒚 𝒌 − 𝒎𝝎𝟐

𝒎𝒆𝝎𝟐
 Rearranging 𝒚 =
𝒌−𝒎𝝎𝟐

DE ZG611 Dynamics and Vibrations BITS Pilani, Hyderabad Campus

 𝒎𝒆𝝎𝟐
 Rearranging 𝒚 =
𝒌−𝒎𝝎𝟐

𝒆𝝎𝟐 𝒆𝝎𝟐
 Or 𝒚 = 𝒌 𝟐  That is 𝒚 =
𝒎
−𝝎 𝝎𝒏 𝟐 −𝝎𝟐

𝒆
 Hence, 𝒚 = 𝝎𝒏 𝟐
−𝟏
𝝎𝟐

 When 𝝎 = 𝝎𝒏 , 𝒚 becomes infinitely large and resonant condition occurs.

 The speed at which deflection of the rotating shaft 𝒚 becomes infinitely large
is known as critical speed or whirling speed.

DE ZG611 Dynamics and Vibrations BITS Pilani, Hyderabad Campus

 That is 𝝎 = 𝝎𝒏 = 𝝎𝒄 , 𝒚 becomes infinitely large.

 But 𝝎𝒏 = 𝟐𝝅𝒇𝒏 , where 𝒇𝒏 is the natural frequency of vibration in

𝑯𝒛.
 That is 𝝎𝒄 = 𝝎𝒏 = 𝟐𝝅𝒇𝒏 .

𝟐𝝅𝑵𝒄 𝟐𝝅𝑵𝒄
 Also 𝝎𝒄 = .  That is 𝟐𝝅𝒇𝒏 = .
𝟔𝟎 𝟔𝟎

 Or𝑵𝒄 = 𝟔𝟎𝒇𝒏 rpm.

 Knowing the natural frequency of a rotating shaft, its critical can be easily
determined at the design stage itself.

DE ZG611 Dynamics and Vibrations BITS Pilani, Hyderabad Campus

 A shaft of length 𝟕𝟎𝟎 𝒎𝒎 supported freely at the two ends has a mass of
𝟏𝟐𝟎 𝑲𝒈 placed at 𝟐𝟓𝟎 𝒎𝒎 from left end.
 Shaft diameter is 𝟒𝟎 𝒎𝒎 and modulus of elasticity of shaft material is
𝟐𝟎𝟎 𝑮𝑷𝒂.
 Determine the natural frequency 𝒇𝒏 of the shaft.
 What is the critical speed 𝑵𝒄 of the shaft?

𝑷 = 𝒎𝒈
 𝒍 = 𝟕𝟎𝟎 𝒎𝒎 = 𝟎. 𝟕 𝒎
 𝒎 = 𝟏𝟐𝟎 𝑲𝒈  𝑷 = 𝒎𝒈 = 𝟏𝟐𝟎 ∗ 𝒈 𝒂 = 𝟐𝟓𝟎 𝒎𝒎 𝒃 = 𝟒𝟓𝟎 𝒎𝒎

 𝒂 = 𝟐𝟓𝟎 𝒎𝒎 = 𝟎. 𝟐𝟓 𝒎 𝒍 = 𝟕𝟎𝟎 𝒎𝒎
 𝒃 = 𝟒𝟓𝟎 𝒎𝒎 = 𝟎. 𝟒𝟓 𝒎
𝝅
 𝒅 = 𝟒𝟎 𝒎𝒎 = 𝟎. 𝟎𝟒𝟎 𝒎  𝑰 = 𝒅𝟒 = 𝟎. 𝟏𝟐𝟓𝟔 ∗ 𝟏𝟎−𝟔 𝒎𝟒
𝟔𝟒
𝟗
 𝑬 = 𝟐𝟎𝟎 𝑮𝑷𝒂 = 𝟐𝟎𝟎 ∗ 𝟏𝟎 𝑵/𝒎𝟐

DE ZG611 Dynamics and Vibrations BITS Pilani, Hyderabad Campus

 𝑷 = 𝟏𝟏𝟕𝟕. 𝟐 𝑵
𝑵
 𝑬 = 𝟐𝟎𝟎 ∗ 𝟏𝟎𝟗
𝒎𝟐
 𝑰 = 𝟎. 𝟏𝟐𝟓𝟔 ∗ 𝟏𝟎−𝟔 𝒎𝟒
𝑵
 𝑬𝑰 = 𝟐𝟎𝟎 ∗ 𝟏𝟎𝟗 𝟐 ∗ 𝟎. 𝟏𝟐𝟓𝟔 ∗ 𝟏𝟎 −𝟔 𝒎𝟒 = 𝟐𝟓𝟏𝟐𝟎 𝑵𝒎𝟐
𝒎
𝑷𝒂𝟐 𝒃𝟐 𝟏𝟏𝟕𝟕.𝟐∗𝟎.𝟐𝟓𝟐 ∗𝟎.𝟒𝟓𝟐
 𝜹𝒔 = = = 𝟐. 𝟖𝟐𝟒 ∗ 𝟏𝟎−𝟒 𝒎
𝟑𝑬𝑰𝒍 𝟑∗𝟐𝟓𝟏𝟐𝟎∗𝟎.𝟕
𝒈 𝟗.𝟖𝟏
 𝝎𝒏 = = = 𝟏𝟖𝟔. 𝟑𝟖 𝒓𝒂𝒅/𝒔
𝜹𝒔 𝟐.𝟖𝟐𝟒∗𝟏𝟎−𝟒
𝟏 𝒈 𝟏 𝟗.𝟖𝟏 𝟗.𝟖𝟏 𝟏 𝟎.𝟒𝟗𝟖𝟓
 𝒇𝒏 = = = =
𝟐𝝅 𝜹𝒔 𝟐𝝅 𝜹𝒔 𝟐𝝅 𝜹𝒔 𝜹𝒔
𝟎.𝟒𝟗𝟖𝟓 𝟎.𝟒𝟗𝟖𝟓
 𝒇𝒏 = = = 𝟐𝟗. 𝟔𝟔 𝑯𝒛
𝜹𝒔 𝟐.𝟖𝟐𝟒∗𝟏𝟎−𝟒
 𝑵𝒄 = 𝟔𝟎𝒇𝒏 = 𝟔𝟎 ∗ 𝟐𝟗. 𝟔𝟔 = 𝟏𝟕𝟕𝟗. 𝟔 𝒓𝒑𝒎
DE ZG611 Dynamics and Vibrations BITS Pilani, Hyderabad Campus
 A shaft of length 𝟐. 𝟓 𝒎 supported freely at the two ends has a mass of
𝟏𝟓 𝑲𝒈/𝒎.
 Shaft diameter is 𝟒𝟎 𝒎𝒎 and modulus of elasticity of shaft material is
𝟐𝟎𝟎 𝑮𝑷𝒂.
 Determine the natural frequency 𝒇𝒏 of the shaft.
 What is the critical speed 𝑵𝒄 of the shaft?
 𝒍 = 𝟐. 𝟓 𝒎
𝒎
 = 𝟏𝟓 𝑲𝒈/𝒎 𝒒 = 𝟏𝟓𝒈
𝒍
 𝒅 = 𝟒𝟎 𝒎𝒎 = 𝟎. 𝟎𝟒𝟎 𝒎
𝒎𝒈 𝒍 = 𝟐. 𝟓 𝒎
 𝒒= = 𝟏𝟓𝒈
𝒍
𝝅
 𝑰 = 𝒅𝟒 = 𝟎. 𝟏𝟐𝟓𝟔 ∗ 𝟏𝟎−𝟔 𝒎𝟒
𝟔𝟒
 𝑬 = 𝟐𝟎𝟎 𝑮𝑷𝒂 = 𝟐𝟎𝟎 ∗ 𝟏𝟎𝟗 𝑵/𝒎𝟐
DE ZG611 Dynamics and Vibrations BITS Pilani, Hyderabad Campus
 𝒒 = 𝟏𝟒𝟕. 𝟏𝟓 𝑵
𝑵
 𝑬 = 𝟐𝟎𝟎 ∗ 𝟏𝟎𝟗
𝒎𝟐
 𝑰 = 𝟎. 𝟏𝟐𝟓𝟔 ∗ 𝟏𝟎−𝟔 𝒎𝟒
𝑵
 𝑬𝑰 = 𝟐𝟎𝟎 ∗ 𝟏𝟎𝟗 𝟐 ∗ 𝟎. 𝟏𝟐𝟓𝟔 ∗ 𝟏𝟎 −𝟔 𝒎𝟒 = 𝟐𝟓𝟏𝟐𝟎 𝑵𝒎𝟐
𝒎
𝟓𝒒𝒍𝟒 𝟓∗𝟏𝟒𝟕.𝟏𝟓∗𝟐.𝟓𝟒
 𝜹𝒔 = = = 𝟐. 𝟗𝟕𝟗 ∗ 𝟏𝟎−𝟑 𝒎
𝟑𝟖𝟒𝑬𝑰 𝟑𝟖𝟒∗𝟐𝟓𝟏𝟐𝟎
𝟎.𝟓𝟔𝟏𝟓
 𝒇𝒏 =
𝜹𝒔
𝟎.𝟓𝟔𝟏𝟓 𝟎.𝟓𝟔𝟏𝟓
 𝒇𝒏 = = = 𝟏𝟎. 𝟐𝟖 𝑯𝒛
𝜹𝒔 𝟐.𝟗𝟕𝟗∗𝟏𝟎−𝟑
 𝑵𝒄 = 𝟔𝟎𝒇𝒏 = 𝟔𝟎 ∗ 𝟏𝟎. 𝟐𝟖 = 𝟔𝟏𝟔. 𝟖𝒓𝒑𝒎

DE ZG611 Dynamics and Vibrations BITS Pilani, Hyderabad Campus

 A shaft of length 𝟐. 𝟓 𝒎 supported freely at the two ends has a mass of
𝟏𝟓 𝑲𝒈/𝒎.
 Shaft diameter is 𝟒𝟎 𝒎𝒎 and modulus of elasticity of shaft material is
𝟐𝟎𝟎 𝑮𝑷𝒂.
 The shaft carries two discs of masses 𝟗𝟎 𝑲𝒈 and 𝟔𝟎 𝑲𝒈.
 𝟗𝟎 𝑲𝒈 mass is at 𝟎. 𝟖 𝒎 and 𝟔𝟎 𝑲𝒈 is at 𝟐 𝒎 from left bearing.
 Determine the natural frequency 𝒇𝒏 of the shaft.
 What is the critical speed 𝑵𝒄 of the shaft?

𝟗𝟎 𝑲𝒈 ∗ 𝟗. 𝟖𝟏 𝟔𝟎 𝑲𝒈 ∗ 𝟗. 𝟖𝟏

𝟎. 𝟖 𝒎
𝒒 = 𝟏𝟓𝒈 𝟎. 𝟓 𝒎

𝒍 = 𝟐. 𝟓 𝒎

DE ZG611 Dynamics and Vibrations BITS Pilani, Hyderabad Campus

 𝒎𝒈
 𝒍 = 𝟐. 𝟓 𝒎  𝒒= = 𝟏𝟓𝒈
𝒍
𝒎 𝝅 𝟒
 = 𝟏𝟓 𝑲𝒈/𝒎  𝑰= 𝒅 = 𝟎. 𝟏𝟐𝟓𝟔 ∗ 𝟏𝟎−𝟔 𝒎𝟒
𝒍 𝟔𝟒
 𝒅 = 𝟒𝟎 𝒎𝒎 = 𝟎. 𝟎𝟒𝟎 𝒎  𝑬 = 𝟐𝟎𝟎 𝑮𝑷𝒂 = 𝟐𝟎𝟎 ∗ 𝟏𝟎𝟗 𝑵/𝒎𝟐
 𝒒 = 𝟏𝟒𝟕. 𝟏𝟓 𝑵
𝑵
 𝑬 = 𝟐𝟎𝟎 ∗ 𝟏𝟎𝟗
𝒎𝟐
 𝑰 = 𝟎. 𝟏𝟐𝟓𝟔 ∗ 𝟏𝟎−𝟔 𝒎𝟒 𝒒 = 𝟏𝟓𝒈
𝑵
 𝑬𝑰 = 𝟐𝟎𝟎 ∗ 𝟏𝟎𝟗 ∗ 𝟎. 𝟏𝟐𝟓𝟔 ∗ 𝟏𝟎−𝟔 𝒎𝟒 = 𝟐𝟓𝟏𝟐𝟎 𝑵𝒎𝟐
𝒎𝟐
𝒍 = 𝟐. 𝟓 𝒎

𝟓𝒒𝒍𝟒 𝟓∗𝟏𝟒𝟕.𝟏𝟓∗𝟐.𝟓𝟒
 𝜹𝒔 = = = 𝟐. 𝟗𝟕𝟗 ∗ 𝟏𝟎−𝟑 𝒎
𝟑𝟖𝟒𝑬𝑰 𝟑𝟖𝟒∗𝟐𝟓𝟏𝟐𝟎
𝟎.𝟓𝟔𝟏𝟓
 𝒇𝒔 =
𝜹𝒔
𝟎.𝟓𝟔𝟏𝟓 𝟎.𝟓𝟔𝟏𝟓
 𝒇𝒔 = = = 𝟏𝟎. 𝟐𝟖 𝑯𝒛
𝜹𝒔 𝟐.𝟗𝟕𝟗∗𝟏𝟎−𝟑

DE ZG611 Dynamics and Vibrations BITS Pilani, Hyderabad Campus

 𝑷 = 𝟗𝟎 ∗ 𝟗. 𝟖𝟏 = 𝟖𝟖𝟐. 𝟗 𝑵
𝑵
 𝑬 = 𝟐𝟎𝟎 ∗ 𝟏𝟎𝟗 𝟐
𝒎
 𝑰 = 𝟎. 𝟏𝟐𝟓𝟔 ∗ 𝟏𝟎−𝟔 𝒎𝟒
𝑵
 𝑬𝑰 = 𝟐𝟎𝟎 ∗ 𝟏𝟎𝟗 𝟐 ∗ 𝟎. 𝟏𝟐𝟓𝟔 ∗ 𝟏𝟎−𝟔 𝒎𝟒 = 𝟐𝟓𝟏𝟐𝟎 𝑵𝒎𝟐
𝒎
𝑷𝒂𝟐 𝒃𝟐 𝟖𝟖𝟐.𝟗∗𝟎.𝟖𝟐 ∗𝟏.𝟕𝟐
 𝜹𝟏 = = = 𝟖. 𝟔𝟔𝟖 ∗ 𝟏𝟎−𝟑 𝒎
𝟑𝑬𝑰𝒍 𝟑∗𝟐𝟓𝟏𝟐𝟎∗𝟐.𝟓
𝟎.𝟒𝟗𝟖𝟓
 𝒇𝟏 =
𝜹𝒔
𝟎.𝟒𝟗𝟖𝟓 𝟎.𝟒𝟗𝟖𝟓
 𝒇𝟏 = = = 𝟓. 𝟑𝟓 𝑯𝒛
𝜹𝒔 𝟖.𝟔𝟔𝟖∗𝟏𝟎−𝟑
𝟗𝟎 𝑲𝒈 ∗ 𝟗. 𝟖𝟏

𝟎. 𝟖 𝒎 𝟏. 𝟕 𝒎

𝒍 = 𝟐. 𝟓 𝒎

DE ZG611 Dynamics and Vibrations BITS Pilani, Hyderabad Campus

 𝑷 = 𝟔𝟎 ∗ 𝟗. 𝟖𝟏 = 𝟓𝟖𝟖. 𝟔 𝑵
𝑵
 𝑬 = 𝟐𝟎𝟎 ∗ 𝟏𝟎𝟗 𝟐
𝒎
 𝑰 = 𝟎. 𝟏𝟐𝟓𝟔 ∗ 𝟏𝟎−𝟔 𝒎𝟒
𝑵
 𝑬𝑰 = 𝟐𝟎𝟎 ∗ 𝟏𝟎𝟗 𝟐 ∗ 𝟎. 𝟏𝟐𝟓𝟔 ∗ 𝟏𝟎−𝟔 𝒎𝟒 = 𝟐𝟓𝟏𝟐𝟎 𝑵𝒎𝟐
𝒎
𝑷𝒂𝟐 𝒃𝟐 𝟓𝟖𝟖.𝟔∗𝟐𝟐 ∗𝟎.𝟓𝟐
 𝜹𝟐 = = = 𝟑. 𝟏𝟐𝟒 ∗ 𝟏𝟎−𝟑 𝒎 𝟔𝟎 𝑲𝒈 ∗ 𝟗. 𝟖𝟏
𝟑𝑬𝑰𝒍 𝟑∗𝟐𝟓𝟏𝟐𝟎∗𝟐.𝟓
𝟎.𝟒𝟗𝟖𝟓
 𝒇𝟐 = 𝟎. 𝟓 𝒎
𝜹𝒔 𝟐. 𝟎 𝒎
𝟎.𝟒𝟗𝟖𝟓 𝟎.𝟒𝟗𝟖𝟓
 𝒇𝟐 = = = 𝟖. 𝟗𝟏𝟗 𝑯𝒛 𝒍 = 𝟐. 𝟓 𝒎
𝜹𝒔 𝟑.𝟏𝟐𝟒∗𝟏𝟎−𝟑
𝟏 𝟏 𝟏 𝟏
 = + +
𝒇𝒏 𝟐 𝒇𝟏 𝟐 𝒇𝟐 𝟐 𝒇𝒔 𝟐

 𝒇𝟏 = 𝟓. 𝟑𝟓 𝑯𝒛  𝒇𝟐 = 𝟖. 𝟗𝟏𝟗 𝑯𝒛

𝟏
= 𝟎. 𝟎𝟓𝟔𝟗𝟕  𝒇𝒏 = 𝟒. 𝟏𝟖𝟗 𝑯𝒛
 𝒇𝒔 = 𝟏𝟎. 𝟐𝟖 𝑯𝒛 𝒇𝒏 𝟐
DE ZG611 Dynamics and Vibrations BITS Pilani, Hyderabad Campus
 𝑷

𝒃 𝑷𝒂𝟐 𝒃𝟐 𝟎.𝟒𝟗𝟖𝟓
𝒂
 𝜹𝒔 =  𝒇𝒏 =
𝟑𝑬𝑰𝒍 𝜹𝒔
𝒍

𝒒
𝟓𝒒𝒍𝟒 𝟎.𝟓𝟔𝟏𝟓
 𝜹𝒔 =  𝒇𝒏 =
𝟑𝟖𝟒𝑬𝑰 𝜹𝒔
𝒍

𝒃 𝑷𝒂𝟑 𝒃𝟑 𝟎.𝟒𝟗𝟖𝟓
𝒂
 𝜹𝒔 =  𝒇𝒏 =
𝟑𝑬𝑰𝒍 𝜹𝒔
𝒍

DE ZG611 Dynamics and Vibrations BITS Pilani, Hyderabad Campus

𝒒
𝒒𝒍𝟒 𝟎.𝟓𝟕𝟏
 𝜹𝒔 =  𝒇𝒏 =
𝒍 𝟑𝟖𝟒𝑬𝑰 𝜹𝒔

𝒒 𝟎.𝟔𝟐𝟐
𝒒𝒍𝟒
 𝜹𝒔 =  𝒇𝒏 =
𝟖𝑬𝑰 𝜹𝒔
𝒍

𝑷
𝑷𝒍𝟑 𝟎.𝟒𝟗𝟖𝟓
 𝜹𝒔 =  𝒇𝒏 =
𝟑𝑬𝑰 𝜹𝒔

DE ZG611 Dynamics and Vibrations BITS Pilani, Hyderabad Campus

DE ZG611 Dynamics and Vibrations BITS Pilani, Hyderabad Campus
DE ZG611 Dynamics and Vibrations BITS Pilani, Hyderabad Campus
DE ZG611 Dynamics and Vibrations BITS Pilani, Hyderabad Campus