TWO DEGREE

TORSIONAL
VIBRATIONS
(TENSILE COMPRESSIVE (BENDING STRESSES) (TORSIONAL SHEAR STRESSES)

STRESSES) TRANSVERSE VIBRATIONS TORSIONAL VIBRATIONS

LONGITUDINAL VIBRATIONS
Torsional Vibration

Transverse Vibration

Longitudinal Vibration
 Torsional Vibration is predominant whenever there are large
discs on relatively thin shaft(e.g. flywheel of a punch press).
 Torsional vibration may origin from the following forcing
 Inertia forces of reciprocating mechanisms (such as pistons in
IC engines)
 Impulsive loads occurring during a normal machine cycle (e.g.
during operation of a punch press)
 Shock loads applied to electrical machinery(such as generator
line fault followed by fault removal and automatic closure)
 Torque related to gear mesh frequencies, turbine blade
passing frequencies, etc.
 For machines having massive rotors and flexible shafts (where
the system natural frequencies of torsional vibrations may be
close to, or within, the excitation torque frequency range
during normal operation) torsional vibrations constitute a
potential design problem area.

 In such cases designers should ensure ensure the accurate

prediction of machine torsional frequencies and frequencies of
any torsional load fluctuation should not concide with the
torsional natural frequencies.
Two Disc Torsional System Free Body Diagram of Discs

σ 𝐸𝑥𝑡𝑒𝑟𝑛𝑎𝑙 𝑇𝑜𝑟𝑞𝑢𝑒 = 𝐼𝑝1 𝜃ሷ1 and σ 𝐸𝑥𝑡𝑒𝑟𝑛𝑎𝑙 𝑇𝑜𝑟𝑞𝑢𝑒 = 𝐼𝑝2 𝜃ሷ2

𝐼𝑝1 𝜃ሷ1+𝐾𝑡 𝜃1 − 𝐾𝑡 𝜃2 = 0

𝐼𝑝2 𝜃ሷ 2 +𝐾𝑡 𝜃2 − 𝐾𝑡 𝜃1 = 0
 Basic modes- Low speed Engine

Vibration form with free end amplitude +1.0

Others inertias get positive/negative values.
 Natural vibration forms, CPM(cycles per minute)

Lowest natural mode at 306 cpm.

Node at general branch coupling.

Second natural mode at 435 cpm.

Node at general and main
coupling.
Real systems has always considerable vibration damping. It lowers the vibration
peaks but also affects the vibration phase. System free ends do not reach their
extreme position simultaneously but there is a phase difference.

Simple chain of four lumped

inertias.

‘Node’ is the point where

angular amplitude reaches
minimum-but seldom value is =0
PROBLEM 1:
Find the natural frequency of torsional vibration
for the system shown in fig.
(Assume G=0.8 x 1011 N/m2 )
 SOLUTION:-

To find :- 𝒇𝒏
𝑇 𝐺𝜃
We know from Strength of Materials, that = giving the torsional stiffness
𝐼𝑝 𝑙

𝑇 𝐺𝐼𝑝 𝐺 𝜋𝑑 4
𝐾𝑡 = = = ×
𝜃 𝑙 𝑙 32
If 𝐾𝑡1 , 𝐾𝑡2 and 𝐾𝑡3 are torsional stiffnesses of three different sections of the shaft,
then

𝐺 𝜋𝑑1 4
𝐾𝑡1 = ×
𝑙1 32

𝐺 𝜋𝑑2 4
𝐾𝑡2 = ×
𝑙2 32

𝐺 𝜋𝑑3 4
𝐾𝑡3 = ×
𝑙3 32
PROBLEM 2:
Find the natural frequency of torsional vibration
for the system shown in figure. Neglect mass
moment of inertia of shaft.
(Assume G=0.8 x 1011 N/m2 ) I = 0.0098 Kg - m2
SOLUTION:-

To Find :-

i)the position of node.

ii)the frequency of torsional vibration.

 Linear System Torsional System

Equation of motion m𝑥ሷ +c𝑥ሶ + 𝑘𝑥 = 𝐹0 sin𝜔𝑡 ሷ 1 𝜃ሶ + 𝐾𝑡 𝜃 = 𝑀𝑇 𝑠𝑖𝑛𝜔𝑡

I𝜃+𝐶

Solution x=𝑥𝑐 + 𝑥𝑝 𝜃 = 𝜃𝑐 + 𝜃𝑝

Complimentry𝑥𝑐 =M𝑒 −𝜔𝑛𝜉𝑡 sin(𝜔𝑑 t+𝜙) 𝜃𝑐 = M𝑒 −𝜔𝑛𝜉𝑡 sin(𝜔𝑑 t+𝜙)

Solution (underdamped) (underdamped)

where 𝜔𝑑 =𝜔𝑛 1 − ξ2 where 𝜔𝑑 =𝜔𝑛 1 − ξ2

Particular Solution 𝑥𝑝 =X sin(𝜔𝑡 − 𝜙) 𝜃𝑝 =𝜃sin(𝜔𝑡 − 𝜙)

𝜃=𝜃1 + 𝜃2 + 𝜃3 + 𝜃4

𝑀𝑇 𝐺𝐽
=
𝜃 𝐿

𝑀𝑇 𝐿
𝜃=
𝐺𝐽

𝑀𝑇 𝐿 𝑀𝑇 𝐿1 𝑀𝑇 𝐿2 𝑀𝑇 𝐿3 𝑀𝑇 𝐿4
= + + +
𝐺𝐽 𝐺𝐽1 𝐺𝐽2 𝐺𝐽3 𝐺𝐽4

𝐿 𝐿1 𝐿2 𝐿3 𝐿4
= + + +
𝐽 𝐽1 𝐽2 𝐽3 𝐽4
𝜋 4
J= 𝑑
32

𝐿1 𝐿2 𝐿3 𝐿4
L= + + +
𝑑1 4 𝑑2 4 𝑑3 4 𝑑4 4

If d=𝑑1

𝑑1 4 𝑑1 4 𝑑1 4
L=𝐿1 + 𝐿2 + 𝐿3 + 𝐿4
𝑑2 𝑑3 𝑑4
PROBLEM 3:
For the Rotor system shown in Fig. Find the
natural frequency and position of node by
i)Considering d1 as the diameter of equivalent shaft
ii)Considering d2 as the diameter of equivalent
shaft
(Assume G=80x109 N/m2 )
SOLUTION:-

To Find :-

i)the position of node.

ii)the frequency of torsional vibration.

PROBLEM 4:
Two identical rotors are attached to the two ends
of a stepped shaft. Each rotor has a mass of 450
Kg. And radius of gyration .38 m. Diameter of the
shaft is 0.75 m for the first 0.25 m length and 0.1
m diameter for the next 0.1 m length and for the
remaining length 0.875 m in diameter. Total
length of the shaft is 0.6 m .(Assume G=0.8 x 1011
N/m2 and take d3 as eq.dia) Find i)the position of
node.
ii)the frequency of torsional vibration.
Ans : La = Lb = 0.154335 m and fn = 34.101 Hz
SOLUTION:-

To Find :-
i)the position of node.

ii)the frequency of torsional vibration.

m = 450 Kg
K = 0.38 m
𝐼𝐴 =𝐼𝐵 = m𝐾 2 = 450 × 0.382

= 64.980 Kg 𝑚2
SOLUTION:-

To Find :-
i)the position of node.

ii)the frequency of torsional vibration.

Given :-

𝐼𝐴 =0.15 Kg 𝑚2
𝐼𝐷 =0.6 Kg 𝑚2
𝑑1 =0.025 m
𝐿1 =0.2 m
𝐿2 =0.15 m
𝑑2 =0.04 m
𝑑3 = 0.025 m
𝐿3 =0.23 m
G=84 x 109 N/𝑚2
 𝐽1 𝐽1
𝐿𝑒𝑞 = 𝐿1 + 𝐿2 + 𝐿3
𝐽2 𝐽3
4
𝑑1 𝑑1 4
= 𝐿3 + 𝐿2 + 𝐿1
𝑑2 𝑑2 4 − 𝑑3 4
0.025 4 0.0254
=0.2 + 0.15× 0.040
+ 𝐿1 0.0404−0.0254
= 0.2643 m
𝐿𝐴 𝐼𝐴 = 𝐿𝐷 𝐼𝐷
0.15× 𝐿𝐴 =0.6 × 𝐿𝐷
𝐿𝐴 =4 𝐿𝐷
𝐿𝑒𝑞 = 𝐿𝐴 +𝐿𝐷 = .2643 m
4 𝐿𝐷 +𝐿𝐷 = .2643
𝑳𝑫 = 0.05286 m
𝑳𝑨 = 0.21144 m

𝜋 𝜋
J = 32 𝑑1 4 = 32 × 0.025 4

= 3.8349× 10−8 𝑚4
 𝐺𝐽
𝜔𝑛 =
𝐿𝐴 𝐼𝐴

84 × 109 × 3.8349 × 10−8

𝜔𝑛 =
0.15 × 0.21144

= 318.699 rad/s

𝒇𝒏 = 𝟓𝟎. 𝟕𝟐𝟐 𝑯𝒛
PROBLEM 7:
A shaft ABCD 1.8 m long has flywheels at its end A, D each flywheel
has a mass of 55 kg and radius of gyration of wheel A is 0.6 m and
for the wheel at D 0.4 m. The diameter of the portion AB is 55 mm
which 0.75 m long and diameter 62mm for the portion BC which is
0.3 m long .choose the diameter of the remaining portion CD so that
the node of the torsional vibrations of the system will be mid point
of portion BC.(Assume G=0.8 x 1011 N/m2 ) Find
i)the frequency of torsional vibration.
SOLUTION:-
To Find :-
the frequency of torsional vibration.
Given :-

𝐾𝐴 =0.6 m 𝑑1 =0.055 m G=84 x 109 N/𝑚2

𝐾𝐷 =0.4 m 𝐿1 =0.75 m
m = 55 Kg 𝐿2 =0.3 m
L = 1.8 m 𝑑2 =0.062 m
𝐿3 =L -𝐿1 -𝐿2
= 1.8-0.75-0.3
= 0.75 m
𝐼𝐴 = m𝐾𝐴 2
= 55× 0.62
=19.8 Kg 𝑚2

𝐼𝐷 = m𝐾𝐷 2
= 55× 0.42
=8.8 Kg 𝑚2
 4
𝐿2 𝑑1
𝐿𝐴 = 𝐿1 +
2 𝑑2
0.3 0.055 4
= 0.75+
2 0.062

= 842.891× 10−3 m

4 4
𝐿2 𝑑1 𝑑1
𝐿𝐷 = + 𝐿3
2 𝑑2 𝑑

4
0.3 0.055
=
2 0.062
4
0.055
+ 0.75
𝑑
𝐿𝐴 𝐼𝐴 = 𝐿𝐷 𝐼𝐷 4
0.055
−3 = 8.8 × 𝐿
842.891
× 10−3
= 92.89119.8× + 0.75× 10 𝐷
𝑑 −3
𝐿𝐷 = 1896.505 × 10 m
 −3 −3 0.055 4
1896.505 × 10 = 92.891 × 10 + 0.75 𝑑
d = 44.166 × 10−3 m
= 44.166 mm

𝜋 𝜋
J = 32 𝑑1 4 = 32 × 0.055 4

= 8.984× 10−7 𝑚4

𝐺𝐽
𝜔𝑛 =
𝐿𝐴 𝐼𝐴

84 × 109 × 8.984 × 10−7

𝜔𝑛 =
19.8 × 842.891 × 10−3

= 67.2 rad/s

𝒇𝒏 = 𝟏𝟎. 𝟕𝟎𝟐 𝑯𝒛
PROBLEM 8:
Find the natural frequency of a torsional system shown in the
fig. It is desired the to have the node at mid section of Φ 120
mm by changing the present 90 mm diameter of the shaft.
Determine this new diameter .(Assume G=0.8 x 1011 N/m2 )
Ans : La = 0.707 m Lb = 0.295 m and
fn = 13.232 Hz d = 135 mm
SOLUTION:-

To Find :-

the frequency of torsional vibration.

4 4 4
𝑑1 𝑑1 𝑑1
𝐿𝑒𝑞 = 𝐿1 + 𝐿2 + 𝐿3 + 𝐿4
𝑑2 𝑑3 𝑑4

100 4 100 4 100 4

= 0.3 + 0.16 + 0.125 + 0.4
150 120 90

= 1.002 m
 𝐿𝐴 𝐼𝐴 = 𝐿𝐵 𝐼𝐵
168.75𝐿𝐴 = 405𝐿𝐵
𝐿𝐴 = 2.4𝐿𝐵
𝐿𝐴 +𝐿𝐵 = 1.002
3.4𝐿𝐵 = 1.002
𝐿𝐵 = 0.295 m
𝐿𝐴 = 0.707 m

𝜋 𝜋
J = 32 𝑑 4 = 32 × 100 × 10−3 4

= 9.817× 10−6 𝑚4

𝐺𝐽 84 × 109 × 9.817 × 10−6

𝜔𝑛 = =
𝐿𝐴 𝐼𝐴 0.707 × 168.75

= 83.138 rad/s

𝒇𝒏 = 𝟏𝟑. 𝟐𝟑𝟐 𝑯𝒛
 4 4
𝑑1 𝐿3 𝑑1
𝐿𝐴 = 𝐿1 + 𝐿2 +
𝑑2 2 𝑑3

100 4 125 100 4

= 300+160 +
150 2 120

= 361.746 mm

𝐿𝐴 𝐼𝐴 = 𝐿𝐵 𝐼𝐵
168.75× 361.746 = 405𝐿𝐵
𝐿𝐵 = 150.727 mm

4 4
𝐿3 𝑑1 𝑑1
𝐿𝐷 = + 𝐿4
2 𝑑3 𝑑

4 4
125 100 100
= + 400
2 120 𝑑

400×108
= 30.141 +
𝑑4
 400×108
30.141 + = 150.727
𝑑4

d = 134.956 mm
≅ 𝟏𝟑𝟓 𝒎𝒎
PROBLEM 9:
Two rotors A and B are attached to the end of a shaft
600 mm long .The weight of rotor A is 400 N. and radius
of gyration is 400 mm. The weight of rotor B is 500 N.
and radius of gyration is 500 mm. The shaft is 80 mm
diameter for first 250 mm,120 mm diameter for next
150 mm and 100 mm diameter for remaining length.
(Assume G=0.8 x 1011 N/m2 ) Find
i)the position of node.
PROBLEM 10:
A shaft 1.8 m long has flywheels at its end A, D each flywheel has
a mass of 55 kg and radius of gyration of wheel A is 0.6 m and for
the wheel at D 0.4 m. The diameter of the portion AB is 55 mm
which 0.75 m long and diameter 62mm for the portion BC which is
0.3 m long .choose the diameter of the remaining portion CD so
that the node of the torsional vibrations of the system will be mid
point of portion BC.(Assume G=0.8 x 1011 N/m2 ) Find
i)the frequency of torsional vibration.
PROBLEM 11:
A steel shaft ABCD 1.5 m long has rotor attached at A and D.

Moment of Inertia of rotor A, 𝑰𝑨 = 𝟐𝟎𝟎 𝐊𝐠 𝒎𝟐

Moment of Inertia of rotor D, 𝑰𝑫 = 𝟔𝟎 𝐊𝐠 𝒎𝟐
Section AB is of diameter 50 mm and length 400 mm; BC has diameter
of 60 mm and length of 500 mm and CD has a diameter d. The modulus
of rigidity for steel is 8× 𝟏𝟎𝟒 𝑴𝑵/𝒎𝟐 . Find the diameter d and the natural
frequency of torsional vibration s if the node point is
A) At B
B) At C