Mechanical Vibration Analysis Uncertainties and Control Third Edition Benaroya
Mechanical Vibration Analysis Uncertainties and Control Third Edition Benaroya
Mechanical Vibration Analysis Uncertainties and Control Third Edition Benaroya
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Author(s): Benaroya, Haym; Nagurka, Mark L
ISBN(s): 9781420080575, 1420080571
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File Details: PDF, 99.65 MB
Year: 2010
Language: english
8. MECHANICAL ENGINEERING
A Series of Textbooks and Reference Books
Founding Editor
L. L. Faulkner
Columbus Division, Battelle Memorial Institute
and Department of Mechanical Engineering
The Ohio State University
Columbus, Ohio
1. Spring Designer’s Handbook, Harold Carlson
2. Computer-Aided Graphics and Design, Daniel L. Ryan
3. Lubrication Fundamentals, J. George Wills
4. Solar Engineering for Domestic Buildings, William A. Himmelman
5. Applied Engineering Mechanics: Statics and Dynamics, G. Boothroyd
and C. Poli
6. Centrifugal Pump Clinic, Igor J. Karassik
7. Computer-Aided Kinetics for Machine Design, Daniel L. Ryan
8. Plastics Products Design Handbook, Part A: Materials and Components;
Part B: Processes and Design for Processes, edited by Edward Miller
9. Turbomachinery: Basic Theory and Applications, Earl Logan, Jr.
10. Vibrations of Shells and Plates, Werner Soedel
11. Flat and Corrugated Diaphragm Design Handbook, Mario Di Giovanni
12. Practical Stress Analysis in Engineering Design, Alexander Blake
13. An Introduction to the Design and Behavior of Bolted Joints,
John H. Bickford
14. Optimal Engineering Design: Principles and Applications,
James N. Siddall
15. Spring Manufacturing Handbook, Harold Carlson
16. Industrial Noise Control: Fundamentals and Applications, edited by
Lewis H. Bell
17. Gears and Their Vibration: A Basic Approach to Understanding Gear
Noise, J. Derek Smith
18. Chains for Power Transmission and Material Handling: Design
and Applications Handbook, American Chain Association
19. Corrosion and Corrosion Protection Handbook, edited by
Philip A. Schweitzer
20. Gear Drive Systems: Design and Application, Peter Lynwander
21. Controlling In-Plant Airborne Contaminants: Systems Design
and Calculations, John D. Constance
22. CAD/CAM Systems Planning and Implementation, Charles S. Knox
23. Probabilistic Engineering Design: Principles and Applications,
James N. Siddall
24. Traction Drives: Selection and Application, Frederick W. Heilich III
and Eugene E. Shube
9. 25. Finite Element Methods: An Introduction, Ronald L. Huston
and Chris E. Passerello
26. Mechanical Fastening of Plastics: An Engineering Handbook,
Brayton Lincoln, Kenneth J. Gomes, and James F. Braden
27. Lubrication in Practice: Second Edition, edited by W. S. Robertson
28. Principles of Automated Drafting, Daniel L. Ryan
29. Practical Seal Design, edited by Leonard J. Martini
30. Engineering Documentation for CAD/CAM Applications,
Charles S. Knox
31. Design Dimensioning with Computer Graphics Applications,
Jerome C. Lange
32. Mechanism Analysis: Simplified Graphical and Analytical Techniques,
Lyndon O. Barton
33. CAD/CAM Systems: Justification, Implementation, Productivity Measure-
ment, Edward J. Preston, George W. Crawford,
and Mark E. Coticchia
34. Steam Plant Calculations Manual, V. Ganapathy
35. Design Assurance for Engineers and Managers, John A. Burgess
36. Heat Transfer Fluids and Systems for Process and Energy Applications,
Jasbir Singh
37. Potential Flows: Computer Graphic Solutions, Robert H. Kirchhoff
38. Computer-Aided Graphics and Design: Second Edition, Daniel L. Ryan
39. Electronically Controlled Proportional Valves: Selection and Application,
Michael J. Tonyan, edited by Tobi Goldoftas
40. Pressure Gauge Handbook, AMETEK, U.S. Gauge Division, edited by
Philip W. Harland
41. Fabric Filtration for Combustion Sources: Fundamentals and Basic Tech-
nology, R. P. Donovan
42. Design of Mechanical Joints, Alexander Blake
43. CAD/CAM Dictionary, Edward J. Preston, George W. Crawford,
and Mark E. Coticchia
44. Machinery Adhesives for Locking, Retaining, and Sealing,
Girard S. Haviland
45. Couplings and Joints: Design, Selection, and Application,
Jon R. Mancuso
46. Shaft Alignment Handbook, John Piotrowski
47. BASIC Programs for Steam Plant Engineers: Boilers, Combustion,
Fluid Flow, and Heat Transfer, V. Ganapathy
48. Solving Mechanical Design Problems with Computer Graphics,
Jerome C. Lange
49. Plastics Gearing: Selection and Application, Clifford E. Adams
50. Clutches and Brakes: Design and Selection, William C. Orthwein
51. Transducers in Mechanical and Electronic Design, Harry L. Trietley
52. Metallurgical Applications of Shock-Wave and High-Strain-Rate
Phenomena, edited by Lawrence E. Murr, Karl P. Staudhammer,
and Marc A. Meyers
53. Magnesium Products Design, Robert S. Busk
54. How to Integrate CAD/CAM Systems: Management and Technology,
William D. Engelke
55. Cam Design and Manufacture: Second Edition; with cam design
software for the IBM PC and compatibles, disk included,
Preben W. Jensen
10. 56. Solid-State AC Motor Controls: Selection and Application,
Sylvester Campbell
57. Fundamentals of Robotics, David D. Ardayfio
58. Belt Selection and Application for Engineers, edited by
Wallace D. Erickson
59. Developing Three-Dimensional CAD Software with the IBM PC,
C. Stan Wei
60. Organizing Data for CIM Applications, Charles S. Knox, with
contributions by Thomas C. Boos, Ross S. Culverhouse,
and Paul F. Muchnicki
61. Computer-Aided Simulation in Railway Dynamics, by Rao V. Dukkipati
and Joseph R. Amyot
62. Fiber-Reinforced Composites: Materials, Manufacturing, and Design,
P. K. Mallick
63. Photoelectric Sensors and Controls: Selection and Application,
Scott M. Juds
64. Finite Element Analysis with Personal Computers,
Edward R. Champion, Jr. and J. Michael Ensminger
65. Ultrasonics: Fundamentals, Technology, Applications: Second Edition,
Revised and Expanded, Dale Ensminger
66. Applied Finite Element Modeling: Practical Problem Solving for
Engineers, Jeffrey M. Steele
67. Measurement and Instrumentation in Engineering: Principles and Basic
Laboratory Experiments, Francis S. Tse and Ivan E. Morse
68. Centrifugal Pump Clinic: Second Edition, Revised and Expanded,
Igor J. Karassik
69. Practical Stress Analysis in Engineering Design: Second Edition, Revised
and Expanded, Alexander Blake
70. An Introduction to the Design and Behavior of Bolted Joints:
Second Edition, Revised and Expanded, John H. Bickford
71. High Vacuum Technology: A Practical Guide, Marsbed H. Hablanian
72. Pressure Sensors: Selection and Application, Duane Tandeske
73. Zinc Handbook: Properties, Processing, and Use in Design,
Frank Porter
74. Thermal Fatigue of Metals, Andrzej Weronski and Tadeusz Hejwowski
75. Classical and Modern Mechanisms for Engineers and Inventors,
Preben W. Jensen
76. Handbook of Electronic Package Design, edited by Michael Pecht
77. Shock-Wave and High-Strain-Rate Phenomena in Materials, edited by
Marc A. Meyers, Lawrence E. Murr, and Karl P. Staudhammer
78. Industrial Refrigeration: Principles, Design and Applications,
P. C. Koelet
79. Applied Combustion, Eugene L. Keating
80. Engine Oils and Automotive Lubrication, edited by Wilfried J. Bartz
81. Mechanism Analysis: Simplified and Graphical Techniques,
Second Edition, Revised and Expanded, Lyndon O. Barton
82. Fundamental Fluid Mechanics for the Practicing Engineer,
James W. Murdock
83. Fiber-Reinforced Composites: Materials, Manufacturing, and Design,
Second Edition, Revised and Expanded, P. K. Mallick
84. Numerical Methods for Engineering Applications,
Edward R. Champion, Jr.
11. 85. Turbomachinery: Basic Theory and Applications, Second Edition,
Revised and Expanded, Earl Logan, Jr.
86. Vibrations of Shells and Plates: Second Edition, Revised and Expanded,
Werner Soedel
87. Steam Plant Calculations Manual: Second Edition,
Revised and Expanded, V. Ganapathy
88. Industrial Noise Control: Fundamentals and Applications,
Second Edition, Revised and Expanded, Lewis H. Bell
and Douglas H. Bell
89. Finite Elements: Their Design and Performance, Richard H. MacNeal
90. Mechanical Properties of Polymers and Composites: Second Edition,
Revised and Expanded, Lawrence E. Nielsen and Robert F. Landel
91. Mechanical Wear Prediction and Prevention, Raymond G. Bayer
92. Mechanical Power Transmission Components, edited by
David W. South and Jon R. Mancuso
93. Handbook of Turbomachinery, edited by Earl Logan, Jr.
94. Engineering Documentation Control Practices and Procedures,
Ray E. Monahan
95. Refractory Linings Thermomechanical Design and Applications,
Charles A. Schacht
96. Geometric Dimensioning and Tolerancing: Applications and Techniques
for Use in Design, Manufacturing, and Inspection, James D. Meadows
97. An Introduction to the Design and Behavior of Bolted Joints:
Third Edition, Revised and Expanded, John H. Bickford
98. Shaft Alignment Handbook: Second Edition, Revised and Expanded,
John Piotrowski
99. Computer-Aided Design of Polymer-Matrix Composite Structures, edited
by Suong Van Hoa
100. Friction Science and Technology, Peter J. Blau
101. Introduction to Plastics and Composites: Mechanical Properties
and Engineering Applications, Edward Miller
102. Practical Fracture Mechanics in Design, Alexander Blake
103. Pump Characteristics and Applications, Michael W. Volk
104. Optical Principles and Technology for Engineers, James E. Stewart
105. Optimizing the Shape of Mechanical Elements and Structures,
A. A. Seireg and Jorge Rodriguez
106. Kinematics and Dynamics of Machinery, Vladimír Stejskal
and Michael Valásek
107. Shaft Seals for Dynamic Applications, Les Horve
108. Reliability-Based Mechanical Design, edited by Thomas A. Cruse
109. Mechanical Fastening, Joining, and Assembly, James A. Speck
110. Turbomachinery Fluid Dynamics and Heat Transfer, edited by
Chunill Hah
111. High-Vacuum Technology: A Practical Guide, Second Edition,
Revised and Expanded, Marsbed H. Hablanian
112. Geometric Dimensioning and Tolerancing: Workbook and Answerbook,
James D. Meadows
113. Handbook of Materials Selection for Engineering Applications,
edited by G. T. Murray
114. Handbook of Thermoplastic Piping System Design, Thomas Sixsmith
and Reinhard Hanselka
12. 115. Practical Guide to Finite Elements: A Solid Mechanics Approach, Steven
M. Lepi
116. Applied Computational Fluid Dynamics, edited by Vijay K. Garg
117. Fluid Sealing Technology, Heinz K. Muller and Bernard S. Nau
118. Friction and Lubrication in Mechanical Design, A. A. Seireg
119. Influence Functions and Matrices, Yuri A. Melnikov
120. Mechanical Analysis of Electronic Packaging Systems,
Stephen A. McKeown
121. Couplings and Joints: Design, Selection, and Application,
Second Edition, Revised and Expanded, Jon R. Mancuso
122. Thermodynamics: Processes and Applications, Earl Logan, Jr.
123. Gear Noise and Vibration, J. Derek Smith
124. Practical Fluid Mechanics for Engineering Applications,
John J. Bloomer
125. Handbook of Hydraulic Fluid Technology, edited by George E. Totten
126. Heat Exchanger Design Handbook, T. Kuppan
127. Designing for Product Sound Quality, Richard H. Lyon
128. Probability Applications in Mechanical Design, Franklin E. Fisher
and Joy R. Fisher
129. Nickel Alloys, edited by Ulrich Heubner
130. Rotating Machinery Vibration: Problem Analysis and Troubleshooting,
Maurice L. Adams, Jr.
131. Formulas for Dynamic Analysis, Ronald L. Huston and C. Q. Liu
132. Handbook of Machinery Dynamics, Lynn L. Faulkner and Earl Logan, Jr.
133. Rapid Prototyping Technology: Selection and Application,
Kenneth G. Cooper
134. Reciprocating Machinery Dynamics: Design and Analysis,
Abdulla S. Rangwala
135. Maintenance Excellence: Optimizing Equipment Life-Cycle Decisions,
edited by John D. Campbell and Andrew K. S. Jardine
136. Practical Guide to Industrial Boiler Systems, Ralph L. Vandagriff
137. Lubrication Fundamentals: Second Edition, Revised and Expanded,
D. M. Pirro and A. A. Wessol
138. Mechanical Life Cycle Handbook: Good Environmental Design
and Manufacturing, edited by Mahendra S. Hundal
139. Micromachining of Engineering Materials, edited by Joseph McGeough
140. Control Strategies for Dynamic Systems: Design and Implementation,
John H. Lumkes, Jr.
141. Practical Guide to Pressure Vessel Manufacturing, Sunil Pullarcot
142. Nondestructive Evaluation: Theory, Techniques, and Applications, edited
by Peter J. Shull
143. Diesel Engine Engineering: Thermodynamics, Dynamics, Design,
and Control, Andrei Makartchouk
144. Handbook of Machine Tool Analysis, Ioan D. Marinescu,
Constantin Ispas, and Dan Boboc
145. Implementing Concurrent Engineering in Small Companies,
Susan Carlson Skalak
146. Practical Guide to the Packaging of Electronics: Thermal and Mechanical
Design and Analysis, Ali Jamnia
147. Bearing Design in Machinery: Engineering Tribology and Lubrication,
Avraham Harnoy
13. 148. Mechanical Reliability Improvement: Probability and Statistics
for Experimental Testing, R. E. Little
149. Industrial Boilers and Heat Recovery Steam Generators: Design,
Applications, and Calculations, V. Ganapathy
150. The CAD Guidebook: A Basic Manual for Understanding and Improving
Computer-Aided Design, Stephen J. Schoonmaker
151. Industrial Noise Control and Acoustics, Randall F. Barron
152. Mechanical Properties of Engineered Materials, Wolé Soboyejo
153. Reliability Verification, Testing, and Analysis in Engineering Design,
Gary S. Wasserman
154. Fundamental Mechanics of Fluids: Third Edition, I. G. Currie
155. Intermediate Heat Transfer, Kau-Fui Vincent Wong
156. HVAC Water Chillers and Cooling Towers: Fundamentals, Application,
and Operation, Herbert W. Stanford III
157. Gear Noise and Vibration: Second Edition, Revised and Expanded,
J. Derek Smith
158. Handbook of Turbomachinery: Second Edition, Revised and Expanded,
edited by Earl Logan, Jr. and Ramendra Roy
159. Piping and Pipeline Engineering: Design, Construction, Maintenance,
Integrity, and Repair, George A. Antaki
160. Turbomachinery: Design and Theory, Rama S. R. Gorla
and Aijaz Ahmed Khan
161. Target Costing: Market-Driven Product Design, M. Bradford Clifton,
Henry M. B. Bird, Robert E. Albano, and Wesley P. Townsend
162. Fluidized Bed Combustion, Simeon N. Oka
163. Theory of Dimensioning: An Introduction to Parameterizing Geometric
Models, Vijay Srinivasan
164. Handbook of Mechanical Alloy Design, edited by George E. Totten,
Lin Xie, and Kiyoshi Funatani
165. Structural Analysis of Polymeric Composite Materials, Mark E. Tuttle
166. Modeling and Simulation for Material Selection and Mechanical Design,
edited by George E. Totten, Lin Xie, and Kiyoshi Funatani
167. Handbook of Pneumatic Conveying Engineering, David Mills,
Mark G. Jones, and Vijay K. Agarwal
168. Clutches and Brakes: Design and Selection, Second Edition,
William C. Orthwein
169. Fundamentals of Fluid Film Lubrication: Second Edition,
Bernard J. Hamrock, Steven R. Schmid, and Bo O. Jacobson
170. Handbook of Lead-Free Solder Technology for Microelectronic
Assemblies, edited by Karl J. Puttlitz and Kathleen A. Stalter
171. Vehicle Stability, Dean Karnopp
172. Mechanical Wear Fundamentals and Testing: Second Edition,
Revised and Expanded, Raymond G. Bayer
173. Liquid Pipeline Hydraulics, E. Shashi Menon
174. Solid Fuels Combustion and Gasification, Marcio L. de Souza-Santos
175. Mechanical Tolerance Stackup and Analysis, Bryan R. Fischer
176. Engineering Design for Wear, Raymond G. Bayer
177. Vibrations of Shells and Plates: Third Edition, Revised and Expanded,
Werner Soedel
178. Refractories Handbook, edited by Charles A. Schacht
14. 179. Practical Engineering Failure Analysis, Hani M. Tawancy,
Anwar Ul-Hamid, and Nureddin M. Abbas
180. Mechanical Alloying and Milling, C. Suryanarayana
181. Mechanical Vibration: Analysis, Uncertainties, and Control,
Second Edition, Revised and Expanded, Haym Benaroya
182. Design of Automatic Machinery, Stephen J. Derby
183. Practical Fracture Mechanics in Design: Second Edition,
Revised and Expanded, Arun Shukla
184. Practical Guide to Designed Experiments, Paul D. Funkenbusch
185. Gigacycle Fatigue in Mechanical Practive, Claude Bathias
and Paul C. Paris
186. Selection of Engineering Materials and Adhesives, Lawrence W. Fisher
187. Boundary Methods: Elements, Contours, and Nodes, Subrata Mukherjee
and Yu Xie Mukherjee
188. Rotordynamics, Agnieszka (Agnes) Muszńyska
189. Pump Characteristics and Applications: Second Edition,
Michael W. Volk
190. Reliability Engineering: Probability Models and Maintenance Methods,
Joel A. Nachlas
191. Industrial Heating: Principles, Techniques, Materials, Applications,
and Design, Yeshvant V. Deshmukh
192. Micro Electro Mechanical System Design, James J. Allen
193. Probability Models in Engineering and Science, Haym Benaroya
and Seon Han
194. Damage Mechanics, George Z. Voyiadjis and Peter I. Kattan
195. Standard Handbook of Chains: Chains for Power Transmission
and Material Handling, Second Edition, American Chain Association and
John L. Wright, Technical Consultant
196. Standards for Engineering Design and Manufacturing,
Wasim Ahmed Khan and Abdul Raouf S.I.
197. Maintenance, Replacement, and Reliability: Theory and Applications,
Andrew K. S. Jardine and Albert H. C. Tsang
198. Finite Element Method: Applications in Solids, Structures, and Heat
Transfer, Michael R. Gosz
199. Microengineering, MEMS, and Interfacing: A Practical Guide,
Danny Banks
200. Fundamentals of Natural Gas Processing, Arthur J. Kidnay
and William Parrish
201. Optimal Control of Induction Heating Processes, Edgar Rapoport
and Yulia Pleshivtseva
202. Practical Plant Failure Analysis: A Guide to Understanding Machinery
Deterioration and Improving Equipment Reliability,
Neville W. Sachs, P.E.
203. Shaft Alignment Handbook, Third Edition, John Piotrowski
204. Advanced Vibration Analysis , S. Graham Kelly
205. Principles of Composite Materials Mechanics, Second Edition,
Ronald F. Gibson
206. Applied Combustion, Second Edition, Eugene L. Keating
207. Introduction to the Design and Behavior of Bolted Joints,
Fourth Edition: Non-Gasketed Joints, John H. Bickford
15. 208. Analytical and Approximate Methods in Transport Phenomena,
Marcio L. de Souza-Santos
209. Design and Optimization of Thermal Systems, Second Edition,
Yogesh Jaluria
210. Friction Science and Technology: From Concepts to Applications,
Second Edition, Peter J. Blau
211. Practical Guide to the Packaging of Electronics, Second Edition: Thermal
and Mechanical Design and Analysis, Ali Jamnia
212. Practical Stress Analysis in Engineering Design, Third Edition,
Ronald L. Huston and Harold Josephs
213. Principles of Biomechanics, Ronald L. Huston
214. Mechanical Vibration Analysis, Uncertainties, and Control, Third Edition,
Haym Benaroya and Mark L. Nagurka
17. Mechanical Vibration
Analysis, Uncertainties, and Control
THIRD EDITION
Haym Benaroya
Rutgers University
Mark L. Nagurka
Marquette University
CRC Press is an imprint of the
Taylor & Francis Group, an informa business
Boca Raton London New York
19. PREFACE
Introductory Comments
From the natural world to the physical world, cycles are everywhere. We
live our lives according to cycles as the days turn into weeks, the weeks into
months, and the months into years. Cycles repeat at regular intervals and
it is this repetitiveness that underlies the concept of vibration.
Humans are drawn to vibration as a source of comfort –from our earliest
days being rocked to sleep to our later years rocking back and forth in a
rocking chair. But, vibration can also be a source of great discomfort1
with the negative e¤ects of numbness, motion sickness, injury, and even
death. Speaking subjectively, vibration can be good or bad depending on
the circumstance.
When we don’
t want a cell phone to ring – an example of acoustic
vibration –we put it in a mode called “vibrate.”We intentionally want it
to vibrate. Yet, when our car vibrates too much we know from the shaking
that something is wrong. It could be out of alignment; it could be the
shock absorbers are shot; it could be the engine mounts are bad; it could
be the engine is mis…ring. A trained mechanic will be able to diagnose the
problem based on the vibration signature. In this case, we intentionally
1 Vibration exposure is more than just a nuisance. It can be a serious health hazard.
Constant exposure to vibration has been known to cause a range of medical problems such
as back pain, carpal tunnel syndrome, and vascular disorders. Vibration related injury
is especially prevalent in occupations that require outdoor work, such as construction,
farming, transportation, shipping, and forestry.
There are two classi…cations for vibration exposure: whole-body vibration and hand
and arm vibration. Whole-body vibration is vibration transmitted to the entire body via
the seat or the feet, or both, often through driving or riding in vehicles (including trucks,
tractors, trains, and o¤-road vehicles) or through standing on vibrating ‡oors (near power
presses in a stamping plant or near vibrating heavy machinery, for example; pumps,
compressors, air handling units and other equipment all contribute to the excitation of
the ‡oors). Hand-and-arm vibration, on the other hand, is limited to the hands and arms
and usually results from the use of power hand tools (reciprocating and impact tools,
jackhammers, grinders, woodchippers, for example) and from vehicle controls.
iii
20. iv
want to eliminate the vibration, although we know the best we can do is
minimize it.
Vibration is pervasive. In fact, it is challenging to …nd examples that
are not related to vibration. Applications of vibration cross disparate dis-
ciplines, well beyond engineering. The following list is only a subset:
biology (pulse rate, breathing rate, biorhythms, balance, tremors,
just to name a few2
)
physics (waves, sound, quantum mechanics)
chemistry (atomic vibration,3
spectroscopy)
astronomy (planetary orbits,4
sunspot cycles)
geology (seismic tremors, earthquakes, volcanic eruptions)
oceanography (ocean waves, deep sea currents)
meteorology (climate and weather cycles)
zoology (predator-prey models of animal populations, host-
parasite cycles, ecosystem cycles, among many others5
)
psychology (seasonal cycles in behavior, sleep cycles, manic-
depressive cycles)
economics (…nancial cycles, business cycles)
agronomy (agricultural cycles)
history (war and peace cycles, governance style cycles)
religion (holidays, life-cycle events)
philosophy (cycles in Eastern philosophy)
parapsychology (astrological cycles)
The word vibration is a common English word that means motion in
oscillation. In a mechanical system, vibration can be viewed as a give-and-
take (tug-of-war) between forces tending toward a balance. The forces are
…ghting each other, causing motion that see-saws back and forth, all the
2 Almost everything in the body is rhythmic. ECG and EEG signals are rhythmic for
a healthy person. Nerve action-potentials are cyclic. Eye blinking is cyclic, although the
rate is not constant. Some rhythms in the body can be varied; many cannot.
3 At an atomic level vibration means there is temperature.
4 A year is the time for the Earth to rotate about the Sun once. A month is the time
for the Moon to rotate about the Earth once. A day is the time for the Earth to rotate
about its axis once.
5 There are many interesting examples: snakes move by and sense vibration, dogs
detect danger by vibration, hummingbird wings ‡ap at known frequencies.
21. v
time trying to achieve equilibrium. This simplistic explanation is developed
in much more technical rigor in this book.
We will learn that vibration occurs in a dynamic system that has at
least two independent energy storage elements. We will develop models for
vibration starting with a mass –which stores kinetic energy –and a spring
– which stores potential energy. It is the interplay between the energies
of dynamic systems that is at the root of vibration, even if we might not
normally think about it this way.
We close these introductory remarks with a fact of life. Vibration is life.6
The absence of vibration is death. The more vibration, the more life.7
The
less vibration, the less life.8
We wish you, the reader, a healthy, meaningful
and happy life, something that can only happen if it is …lled with vibration!
Another Vibration Book?
The decision that the profession needs another textbook on any subject
must be made with great humility. That we have come to such a conclusion
is in no way meant to be a rejection of other books. In fact, other books
o¤er ideas and context that we do not. We have chosen to write this book
in the format, content, and depth of description that we would have liked
when we learned the subject for the …rst time.
Audience
Engineering requires several skills, including two which are most fundamen-
tal: (i) the ability to read9
well and (ii) a knowledge of mathematics.10
We have written the book assuming that the reader has mastered the
…rst skill and has a basic knowledge of dynamics, mechanics of materials,
6 How do you know if a person is alive? You check for a pulse, you check if they
are breathing. Similarly, in the inanimate world, the presence of vibration tells us if
something is working. How do you know if a car is running? You check for engine
vibration or noise from the engine and vehicle.
7 The garment industry makes a signi…cant pro…t based on clothes that ensure unmen-
tionable vibrations of people’
s parts as they walk. (We decided to spare the reader much
more obvious examples.)
8 Health is measured by vibrations in normal ranges. Illness is identi…ed by vibrations
out of the normal ranges, typically slowing (falling pulse, temperature dropping) but
sometimes growing (racing pulse).
9 Without the ability to read the engineer is doomed. We encourage you to develop
the habit of reading technical material with passion. Only through reading will you be
able to conquer new material and truly learn it. We believe in reading.
10 Without a mastery of mathematics, you will …nd yourself handicapped in becoming
and working as an engineer. (You also will be challenged in dealing with your personal
…nances.)
22. vi
di¤erential equations, and some knowledge of matrix algebra. A review of
some relevant mathematics is presented in the Appendix.
Following our belief that textbooks written for students should present
material with su¢ cient detail to be followed easily, we have included sig-
ni…cant details in the formulations and in the explanations. The book is
written at the level of the senior engineering student and intended for both
undergraduate and graduate students (in mechanical, civil, aerospace, and
other engineering departments).
Although written primarily for use as a textbook for engineering stu-
dents, it is also a useful reference for practicing engineers. The material is
organized so that considerable ‡
exibility is o¤ered in arranging for course
level, content, and for self-study.
A considerable amount of thought, feedback, and e¤ort has gone into
preparing this revision. We have tried to make it straightforward to read
and follow. We do not wish to imply, however, that the reader can delve
into this book as if it were a novel. To derive any bene…t from it, each page
must be studied slowly and carefully.
Coverage
The purpose of this textbook is to present comprehensive coverage of the
fundamental principles of vibration theory, with emphasis on the application
of these principles to practical engineering problems. In dealing with the
subject of vibration, the engineer must also consider the option of vibration
control as well as the e¤ects of uncertainties in the analysis. As such, this
book presents the subject of modeling of uncertainties and vibration control
as an integral part of vibration. Of course, this is a text on vibration, and
for extensive and in-depth studies on randomness and control specialized
texts should be sought.
Revisions
There are many changes and additions to this third edition. They are too
numerous to list, but brie‡
y, the written word has been examined many
times to make it more readable and clear. The mathematics has been clar-
i…ed and more details presented where viewed as necessary. Interesting
example problems and homework problems have been added, along with
respective explanatory …gures. All these taken together have made this a
new book, not just a minor change of the previous one. The material on
vibration controls has been modi…ed extensively.
Although a signi…cant portion of the text has been revised and expanded,
no major changes have been made in the arrangement or scope since the
23. vii
earlier editions. In rewriting this book our objective has been to present
the subject in a clear and thorough way. We hope that we have succeeded.
Examples and Problems
The book has many examples. They have been carefully chosen and are
presented at strategic points so that the reader will have a clearer under-
standing of the subject matter. Some of the example problems are relatively
simple and their purpose is to illustrate new ideas and subject matter. Some
are more elaborate and designed to address more realistic and complicated
problems.
A wide selection of problems is provided at the end of each chapter,
grouped together by section. They range from simple to challenging. Since
engineers must be familiar with SI and U.S. customary systems of units,
both systems are used in the examples and problems.
Biographies
A novel feature of the book is the inclusion of biographies of famous per-
sonalities. We share these in the hope that the readers will appreciate that
these individuals were human beings –like us –who faced many challenges
throughout their lives. Despite their hardships (most are never known11
)
they were successful in making signi…cant contributions. We view them as
role models and our teachers, even if we only know them by their contribu-
tions and through their biographies.
The intent of the biographical summaries is to add for the readers the
essential human connection to this subject. Sadly in our eyes, students are
rarely given the opportunity to read about the famous personalities who
have made major contributions. (Each biography could have been many
pages longer, and it was di¢ cult to edit them down to reasonable size.)
Biographies are included here as a courtesy of Professors E.F. Robert-
son and J.J. O’
Connor, School of Mathematical and Computer Sciences,
11 For example, Max Planck is known as the father of the quantum theory in physics. He
introduced a quantum hypothesis to achieve agreement between his theoretical equations,
which were based on the second law of thermodynamics, and experimental data. Planck
had a long and successful career in physics, and was awarded the Nobel Prize in Physics
in 1918 “in recognition of services he rendered to the advancement of physics by his
discovery of energy quanta.” But, did you know that Planck’
s personal life was clouded
by tragedy? His two daughters died in childbirth, one son died in World War I, and
another son was executed in World War II for his part in an assassination attempt on
Hitler in 1944. (Quantum Chemistry, D.A. McQuarrie, Second Edition, University
Science Books, 2007.)
24. viii
University of St. Andrews, St. Andrews, Scotland. Their web site is
http://www-history.mcs.st-and.ac.uk/history/BiogIndex.html
We have based the biographies in the book on those from St. Andrews
and from other sources. We urge the reader to learn of the history of their
profession. It is glorious.
Further Comments about the Book
This text is essentially self-contained. The student may start at the begin-
ning and continue to the end with rare need to refer to other works, except
to …nd additional perspectives on the subject. But then, no one text can
cover all aspects of a subject as broad as vibration. If more details are
desired, the reader will …nd additional information in other works that are
cited.
There is no separate list of references in this text. The footnotes serve as
such attribution. They are intended to introduce the student to the relevant
journal literature and to some of the very useful texts. In no way are the
references meant to be all inclusive; they are only a starting point.
Writing this book has been an exceptional privilege and an enormous
learning experience. We have spent a signi…cant part of our professional
careers learning the topics of the book. We remain life-long learners and
hope we are granted the gifts of mental facility, physical stamina, and time
to continue studying this subject –and engineering in general –for the rest
of our lives.
Instructional Options
This book includes material that can be covered at two course levels, one
undergraduate and one graduate. The instructor may choose a variety of
options for the use of this text. It is generally possible to skip sections that
do not …t with the philosophy of the instructor. A …rst course is likely to
omit the more advanced subjects such as random vibration in Chapter 5
and the variational approaches of Chapter 7. A logical sequence of material
has been presented in the chapters so that the instructor can leave out
sections that do not …t into the particular syllabus. These omitted topics
can be studied in a second course, where more advanced topics can provide
a broader perspective on vibration.
In particular, an undergraduate course could cover most of the introduc-
tory and background Chapter 1, the single degree-of-freedom Chapters 2 to
25. ix
4, and Chapter 8 on multi degree-of-freedom systems. Chapter 5 on ran-
domness and Chapter 6 on feedback control provide the instructor with
resources that permit a customized syllabus.
The second, usually graduate, course could brie‡
y review Chapters 1, 2
to 4, introduce the subjects of randomness and control in Chapters 5 and
6, and spend the most time on the variational techniques of Chapter 7, the
multi degree and continuous systems of Chapters 8 to 11, and on nonlin-
ear vibration and stability of Chapter 12. The choices and emphasis will
depend on the level of preparation of the students and the curricular philos-
ophy of the institution. A two semester sequence can cover all the material
contained in this book.
A Special Note to Students
Like most things of meaning in life, the subject of vibration is not easy.
Our goal in writing this textbook has been to help you learn the subject –
but the book must be read and studied if the material is going to sink in.
Nothing beats working through the examples and solving the problems to
conquer the subject of vibration. Going through challenging material and
struggling to understand it can be frustrating, but they are necessary steps
in learning.
Little would be gained if this book could be read once –like a novel –
and fully absorbed without much thought. It is only through the process
of grappling with fundamental concepts of vibration that you can gain a
level of understanding that will make the subject meaningful. Vibrations
has many practical applications and we have tried to convey that sense
throughout the book. Engineers, after all, work in the real-world, solving
real problems that help real people.
It might seem that vibration is an abstract or theoretical discipline,
especially seeing how much math there is here. Some of you may even be
dismayed by the advanced level of math needed. Recognizing the value
of math as a cornerstone to engineering is an important message that we
hope the reader takes away. As we progress through the book, we will rely
on di¤erential equations to model vibrating systems. Elementary models
built of discrete components (masses, springs, dampers) will be couched in
terms of ordinary di¤erential equations. Later models assuming continuous
components (beams, shafts, rods) will be represented by partial di¤erential
equations.
27. gas delivery tube[15]
passes whose end is immersed under
water, it will be observed that on heating, a gas is formed
which bubbles through the water. This gas can be easily
collected, as will presently be described, and it will be found
to essentially differ from air in many respects; for instance, a
burning taper is extinguished in it as if it had been plunged
into water. If weighing had not proved to us that some
substance had been separated, the formation of the gas might
easily have escaped our notice, for it is colourless and
transparent like air, and is therefore evolved without any
striking feature. The carbonic anhydride evolved may be
weighed,[16]
and it will be seen that the sum of the weights of
the black copper oxide and carbonic anhydride is equal to the
weight of the copper carbonate[17]
originally taken, and thus
by carefully following out the various stages of all chemical
reactions we arrive at a confirmation of the law of the
indestructibility of matter.
3. Red mercury oxide (which is formed as mercury rust by
heating mercury in air) is decomposed like copper carbonate
(only by heating more slowly and at a somewhat higher
temperature), with the formation of the peculiar gas, oxygen.
For this purpose the mercury oxide is placed in a glass tube or
retort,[18]
to which a gas delivery tube is attached by means of
a cork. This tube is bent downwards, as shown in the drawing
(Fig. 1). The open end of the gas delivery tube is immersed in
a vessel filled with water, called a pneumatic trough.[19]
When
the gas begins to be evolved in the retort it is obliged, having
no other outlet, to escape through the gas delivery tube into
the water in the pneumatic trough, and therefore its evolution
will be rendered visible by the bubbles coming from this tube.
In heating the retort containing the mercury oxide, the air
28. contained in the apparatus is first partly expelled, owing to its
expansion by heat, and then the peculiar gas called ‘oxygen’ is
evolved, and may be easily collected as it comes off. For this
purpose a vessel (an ordinary cylinder, as in the drawing) is
filled quite full with water and its mouth closed; it is then
inverted and placed in this position under the water in the
trough; the mouth is then opened. The cylinder will remain
full of water—that is, the water will remain at a higher level in
it than in the surrounding vessel, owing to the atmospheric
pressure. The atmosphere presses on the surface of the water
in the trough, and prevents the water from flowing out of the
cylinder. The mouth of the cylinder is placed over the end of
the gas delivery tube,[20]
and the bubbles issuing from it will
rise into the cylinder and displace the water contained in it.
Gases are generally collected in this manner. When a sufficient
quantity of gas has accumulated in the cylinder it can be
clearly shown that it is not air, but another gas which is
distinguished by its capacity for vigorously supporting
combustion. In order to show this, the cylinder is closed,
under water, and removed from the bath; its mouth is then
turned upwards, and a smouldering taper plunged into it. As
is well known, a smouldering taper will be extinguished in air,
but in the gas which is given off from red mercury oxide it
burns clearly and vigorously, showing the property possessed
by this gas for supporting combustion more energetically than
air, and thus enabling it to be distinguished from the latter. It
may be observed in this experiment that, besides the
formation of oxygen, metallic mercury is formed, which,
volatilising at the high temperature required for the reaction,
condenses on the cooler parts of the retort as a mirror or in
globules. Thus two substances, mercury and oxygen, are
obtained by heating red mercury oxide. In this reaction, from
29. one substance, two new substances are produced—that is, a
decomposition has taken place. The means of collecting and
investigating gases were known before Lavoisier's time, but
he first showed the real part they played in the processes of
many chemical changes which before his era were either
wrongly understood (as will be afterwards explained) or were
not explained at all, but only observed in their superficial
aspects. This experiment on red mercury oxide has a special
significance in the history of chemistry contemporary with
Lavoisier, because the oxygen gas which is here evolved is
contained in the atmosphere, and plays a most important part
in nature, especially in the respiration of animals, in
combustion in air, and in the formation of rusts or scoriæ
(earths, as they were then called) from metals—that is, of
earthy substances, like the ores from which metals are
extracted.
4. In order to illustrate by experiment one more example of
chemical change and the application of the law of the
indestructibility of matter, we will consider the reaction
between common table salt and lunar caustic, which is well
known from its use in cauterising wounds. By taking a clear
solution of each and mixing them together, it will at once be
observed that a solid white substance is formed, which settles
to the bottom of the vessel, and is insoluble in water. This
substance may be separated from the solution by filtering; it
is then found to be an entirely different substance from either
of those taken originally in the solutions. This is at once
evident from the fact that it does not dissolve in water. On
evaporating the liquid which passed through the filter, it will
be found to contain a new substance unlike either table salt or
lunar caustic, but, like them, soluble in water. Thus table salt
and lunar caustic, two substances soluble in water, produced,
30. by their mutual chemical action, two new substances, one
insoluble in water, and the other remaining in solution. Here,
from two substances, two others are obtained, consequently
there occurred a reaction of substitution. The water served
only to convert the re-acting substances into a liquid and
mobile state. If the lunar caustic and salt be dried[21]
and
weighed, and if about 58½ grams[22]
of salt and 170 grams of
lunar caustic be taken, then 143½ grams of insoluble silver
chloride and 85 grams of sodium nitrate will be obtained. The
sum of the weights of the re-acting and resultant substances
are seen to be similar and equal to 228½ grams, which
necessarily follows from the law of the indestructibility of
matter.
Accepting the truth of the above law, the question naturally
arises as to whether there is any limit to the various chemical
transformations, or are they unrestricted in number—that is to
say, is it possible from a given substance to obtain an
equivalent quantity of any other substance? In other words,
does there exist a perpetual and infinite change of one kind of
material into every other kind, or is the cycle of these
transformations limited? This is the second essential problem
of Chemistry, a question of quality of matter, and one, it is
evident, which is more complicated than the question of
quantity. It cannot be solved by a mere superficial glance at
the subject. Indeed, on seeing how all the varied forms and
colours of plants are built up from air and the elements of the
soil, and how metallic iron can be transformed into colours
such as inks and Prussian blue, we might be led to think that
there is no end to the qualitative changes to which matter is
susceptible. But, on the other hand, the experiences of
everyday life compel us to acknowledge that food cannot be
made out of a stone, or gold out of copper. Thus a definite
31. answer can only be looked for in a close and diligent study of
the subject, and the problem has been resolved in different
way at different times. In ancient times the opinion most
generally held was that everything visible was composed of
four elements—Air, Water, Earth, and Fire. The origin of this
doctrine can be traced far back into the confines of Asia,
whence it was handed down to the Greeks, and most fully
expounded by Empedocles, who lived before 460 B.C. This
doctrine was not the result of exact research, but apparently
owes its origin to the clear division of bodies into gases (like
air), liquids (like water), and solids (like the earth). The Arabs
appear to have been the first who attempted to solve the
question by experimental methods, and they introduced,
through Spain, the taste for the study of similar problems into
Europe, where from that time there appear many adepts in
chemistry, which was considered as an unholy art, and called
‘alchemy.’ As the alchemists were ignorant of any exact law
which could guide them in their researches, they obtained
most anomalous results. Their chief service to chemistry was
that they made a number of experiments, and discovered
many new chemical transformations; but it is well known how
they solved the fundamental problem of chemistry. Their view
may be taken as a positive acknowledgment of the infinite
transmutability of matter, for they aimed at discovering the
Philosopher's Stone, capable of converting everything into
gold and diamonds, and of making the old young again. This
solution of the question was afterwards completely
overthrown, but it must not, for this reason, be thought that
the hopes held by the alchemists were only the fruit of their
imaginations. The first chemical experiments might well lead
them to their conclusions. They took, for instance, the bright
metallic mineral galena, and extracted metallic lead from it.
32. Thus they saw that from a metallic substance which is
unfitted for use they could obtain another metallic substance
which is ductile and valuable for many technical purposes.
Furthermore, they took this lead and obtained silver, a still
more valuable metal, from it. Thus they might easily conclude
that it was possible to ennoble metals by means of a whole
series of transmutations—that is to say, to obtain from them
those which are more and more precious. Having got silver
from lead, they assumed that it would be possible to obtain
gold from silver. The mistake they made was that they never
weighed or measured the substances used or produced in
their experiments. Had they done so, they would have learnt
that the weight of the lead was much less than that of the
galena from which it was obtained, and the weight of the
silver infinitesimal compared with that of the lead. Had they
looked more closely into the process of the extraction of the
silver from lead (and silver at the present time is chiefly
obtained from the lead ores) they would have seen that the
lead does not change into silver, but that it only contains a
certain small quantity of it, and this amount having once been
separated from the lead it cannot by any further operation
give more. The silver which the alchemists extracted from the
lead was in the lead, and was not obtained by a chemical
change of the lead itself. This is now well known from
experiment, but the first view of the nature of the process
was very likely to be an erroneous one.[23]
The methods of
research adopted by the alchemists could give but little
success, for they did not set themselves clear and simple
questions whose answers would aid them to make further
progress. Thus though they did not arrive at any exact law,
they left nevertheless numerous and useful experimental data
as an inheritance to chemistry; they investigated, in particular,
33. the transformations proper to metals, and for this reason
chemistry was for long afterwards entirely confined to the
study of metallic substances.
In their researches, the alchemists frequently made use of
two chemical processes which are now termed ‘reduction’ and
‘oxidation.’ The rusting of metals, and in general their
conversion from a metallic into an earthy form, is called
‘oxidation,’ whilst the extraction of a metal from an earthy
substance is called ‘reduction.’ Many metals—for instance,
iron, lead, and tin—are oxidised by heating in air alone, and
may be again reduced by heating with carbon. Such oxidised
metals are found in the earth, and form the majority of
metallic ores. The metals, such as tin, iron, and copper, may
be extracted from these ores by heating them together with
carbon. All these processes were well studied by the
alchemists. It was afterwards shown that all earths and
minerals are formed of similar metallic rusts or oxides, or of
their combinations. Thus the alchemists knew of two forms of
chemical changes: the oxidation of metals and the reduction
of the oxides so formed into metals. The explanation of the
nature of these two classes of chemical phenomena was the
means for the discovery of the most important chemical laws.
The first hypothesis on their nature is due to Becker, and
more particularly to Stahl, a surgeon to the King of Prussia.
Stahl writes in his ‘Fundamenta Chymiæ,’ 1723, that all
substances consist of an imponderable fiery substance called
‘phlogiston’ (materia aut principium ignis non ipse ignis), and
of another element having particular properties for each
substance. The greater the capacity of a body for oxidation,
or the more combustible it is, the richer it is in phlogiston.
Carbon contains it in great abundance. In oxidation or
combustion phlogiston is emitted, and in reduction it is
34. consumed or enters into combination. Carbon reduces earthy
substances because it is rich in phlogiston, and gives up a
portion of its phlogiston to the substance reduced. Thus Stahl
supposed metals to be compound substances consisting of
phlogiston and an earthy substance or oxide. This hypothesis
is distinguished for its very great simplicity, and for this and
other reasons it acquired many supporters.[24]
Fig. 3.—Lavoisier's apparatus for determining
the composition of air and the reason of
metals increasing in weight when they are
calcined in air.
Lavoisier proved by means of the balance that every case of
rusting of metals or oxidation, or of combustion, is
accompanied by an increase in weight at the expense of the
atmosphere. He formed, therefore, the natural opinion that
the heavier substance is more complex than the lighter one.
[25]
Lavoisier's celebrated experiment, made in 1774, gave
indubitable support to his opinion, which in many respects
was contradictory to Stahl's doctrine. Lavoisier poured four
35. ounces of pure mercury into a glass retort (fig. 3), whose
neck was bent as shown in the drawing and dipped into the
vessel R S, also full of mercury. The projecting end of the
neck was covered with a glass bell-jar P. The weight of all the
mercury taken, and the volume of air remaining in the
apparatus, namely, that in the upper portion of the retort, and
under the bell-jar, were determined before beginning the
experiment. It was most important in this experiment to know
the volume of air in order to learn what part it played in the
oxidation of the mercury, because, according to Stahl,
phlogiston is emitted into the air, whilst, according to
Lavoisier, the mercury in oxidising absorbs a portion of the air;
and consequently it was absolutely necessary to determine
whether the amount of air increased or decreased in the
oxidation of the metal. It was, therefore, most important to
measure the volume of the air in the apparatus both before
and after the experiment. For this purpose it was necessary to
know the total capacity of the retort, the volume of the
mercury poured into it, the volume of the bell-jar above the
level of the mercury, and also the temperature and pressure
of the air at the time of its measurement. The volume of air
contained in the apparatus and isolated from the surrounding
atmosphere could be determined from these data. Having
arranged his apparatus in this manner, Lavoisier heated the
retort holding the mercury for a period of twelve days at a
temperature near the boiling point of mercury. The mercury
became covered with a quantity of small red scales; that is, it
was oxidised or converted into an earth. This substance is the
same mercury oxide which has already been mentioned
(example 3). After the lapse of twelve days the apparatus was
cooled, and it was then seen that the volume of the air in the
apparatus had diminished during the time of the experiment.
36. This result was in exact contradiction to Stahl's hypothesis.
Out of 50 cubic inches of air originally taken, there only
remained 42. Lavoisier's experiment led to other equally
important results. The weight of the air taken decreased by as
much as the weight of the mercury increased in oxidising;
that is, the portion of the air was not destroyed, but only
combined with mercury. This portion of the air may be again
separated from the mercury oxide and has, as we saw
(example 3), properties different from those of air. It is called
‘oxygen.’ That portion of the air which remained in the
apparatus and did not combine with the mercury does not
oxidise metals, and cannot support either combustion or
respiration, so that a lighted taper is immediately extinguished
if it be dipped into the gas which remains in the bell-jar. ‘It is
extinguished in the residual gas as if it had been plunged into
water,’ writes Lavoisier in his memoirs. This gas is called
‘nitrogen.’ Thus air is not a simple substance, but consists of
two gases, oxygen and nitrogen, and therefore the opinion
that air is an elementary substance is erroneous. The oxygen
of the air is absorbed in combustion and the oxidation of
metals, and the earths produced by the oxidation of metals
are substances composed of oxygen and a metal. By mixing
the oxygen with the nitrogen the same air as was originally
taken is re-formed. It has also been shown by direct
experiment that on reducing an oxide with carbon, the oxygen
contained in the oxide is transferred to the carbon, and gives
the same gas that is obtained by the combustion of carbon in
air. Therefore this gas is a compound of carbon and oxygen,
just as the earthy oxides are composed of metals and oxygen.
The many examples of the formation and decomposition of
substances which are met with convince us that the majority
of substances with which we have to deal are compounds
37. made up of several other substances. By heating chalk (or
else copper carbonate, as in the second example) we obtain
lime and the same carbonic acid gas which is produced by the
combustion of carbon. On bringing lime into contact with this
gas and water, at the ordinary temperature, we again obtain
the compound, carbonate of lime, or chalk. Therefore chalk is
a compound. So also are those substances from which it may
be built up. Carbonic anhydride is formed by the combination
of carbon and oxygen; and lime is produced by the oxidation
of a certain metal called ‘calcium.’ By resolving substances in
this manner into their component parts, we arrive at last at
such as are indivisible into two or more substances by any
means whatever, and which cannot be formed from other
substances. All we can do is to make such substances
combine together to act on other substances. Substances
which cannot be formed from or decomposed into others are
termed simple substances (elements). Thus all homogeneous
substances may be classified into simple and compound
substances. This view was introduced and established as a
scientific fact during the lifetime of Lavoisier. The number of
these elements is very small in comparison with the number
of compound substances which are formed by them. At the
present time, only seventy elements are known with certainty
to exist. Some of them are very rarely met with in nature, or
are found in very small quantities, whilst the existence of
others is still doubtful. The number of elements with whose
compounds we commonly deal in everyday life is very small.
Elements cannot be transmuted into one another—at least up
to the present not a single case of such a transformation has
been met with; it may therefore be said that, as yet, it is
impossible to transmute one metal into another. And as yet,
notwithstanding the number of attempts which have been
38. made in this direction, no fact has been discovered which
could in any way support the idea of the complexity of such
well-known elements[26]
as oxygen, iron, sulphur, &c.
Therefore, from its very conception, an element is not
susceptible to reactions of decomposition.[27]
The quantity, therefore, of each element remains constant
in all chemical changes: a fact which may be deduced as a
consequence of the law of the indestructibility of matter, and
of the conception of elements themselves. Thus the equation
expressing the law of the indestructibility of matter acquires a
new and still more important signification. If we know the
quantities of the elements which occur in the re-acting
substances, and if from these substances there proceed, by
means of chemical changes, a series of new compound
substances, then the latter will together contain the same
quantity of each of the elements as there originally existed in
the re-acting substances. The essence of chemical change is
embraced in the study of how, and with what substances,
each element is combined before and after change.
In order to be able to express various chemical changes by
equations, it has been agreed to represent each element by
the first or some two letters of its (Latin) name. Thus, for
example, oxygen is represented by the letter O; nitrogen by
N; mercury (hydrargyrum) by Hg; iron (ferrum) by Fe; and so
on for all the elements, as is seen in the tables on page 24. A
compound substance is represented by placing the symbols
representing the elements of which it is made up side by side.
For example, red mercury oxide is represented by HgO, which
shows that it is composed of oxygen and mercury. Besides
this, the symbol of every element corresponds with a certain
relative quantity of it by weight, called its ‘combining’ weight,
39. or the weight of an atom; so that the chemical formula of a
compound substance not only designates the nature of the
elements of which it is composed, but also their quantitative
proportion. Every chemical process may be expressed by an
equation composed of the formulæ corresponding with those
substances which take part in it and are produced by it. The
amount by weight of the elements in every chemical equation
must be equal on both sides of the equation, since no
element is either formed or destroyed in a chemical change.
On pages 24, 25, and 26 a list of the elements, with their
symbols and combining or atomic weights, is given, and we
shall see afterwards on what basis the atomic weights of
elements are determined. At present we will only point out
that a compound containing the elements A and B is
designated by the formula An Bm, where m and n are the
coefficients or multiples in which the combining weights of the
elements enter into the composition of the substance. If we
represent the combining weight of the substance A by a and
that of the substance B by b, then the composition of the
substance An Bm will be expressed thus: it contains na parts
by weight of the substance A and mb parts by weight of the
substance B, and consequently 100 parts of our compound
contain
na 100
na + mb
percentage parts by weight of the
substance A and
mb 100
na + mb
of the substance B. It is evident
that as a formula shows the relative amounts of all the
elements contained in a compound, the actual weights of the
elements contained in a given weight of a compound may be
calculated from its formula. For example, the formula NaCl of
40. table salt shows (as Na = 23 and Cl = 35·5) that 58·5 lbs. of
salt contain 23 lbs. of sodium and 35·5 lbs. of chlorine, and
that 100 parts of it contain 39·3 per cent. of sodium and 60·7
per cent. of chlorine.
What has been said above clearly limits the province of
chemical changes, because from substances of a given kind
there can be obtained only such as contain the same
elements. Even with this limitation, however, the number of
possible combinations is infinitely great. Only a comparatively
small number of compounds have yet been described or
subjected to research, and any one working in this direction
may easily discover new compounds which had not before
been obtained. It often happens, however, that such newly-
discovered compounds were foreseen by chemistry, whose
object is the apprehension of that uniformity which rules over
the multitude of compound substances, and whose aim is the
comprehension of those laws which govern their formation
and properties. The conception of elements having been
established, the next objects of chemistry were: the
determination of the properties of compound substances on
the basis of the determination of the quantity and kind of
elements of which they are composed; the investigation of the
elements themselves; the determination of what compound
substances can be formed from each element and the
properties which these compounds show; and the
apprehension of the nature of the connection between the
elements in different compounds. An element thus serves as
the starting point, and is taken as the primary conception on
which all other substances are built up.
When we state that a certain element enters into the
composition of a given compound (when we say, for instance,
41. that mercury oxide contains oxygen) we do not mean that it
contains oxygen as a gaseous substance, but only desire to
express those transformations which mercury oxide is capable
of making; that is, we wish to say that it is possible to obtain
oxygen from mercury oxide, and that it can give up oxygen to
various other substances; in a word, we desire only to express
those transformations of which mercury oxide is capable. Or,
more concisely, it may be said that the composition of a
compound is the expression of those transformations of which
it is capable. It is useful in this sense to make a clear
distinction between the conception of an element as a
separate homogeneous substance, and as a material but
invisible part of a compound. Mercury oxide does not contain
two simple bodies, a gas and a metal, but two elements,
mercury and oxygen, which, when free, are a gas and a
metal. Neither mercury as a metal nor oxygen as a gas is
contained in mercury oxide; it only contains the substance of
these elements, just as steam only contains the substance of
ice, but not ice itself, or as corn contains the substance of the
seed, but not the seed itself. The existence of an element may
be recognised without knowing it in the uncombined state,
but only from an investigation of its combinations, and from
the knowledge that it gives, under all possible conditions,
substances which are unlike other known combinations of
substances. Fluorine is an example of this kind. It was for a
long time unknown in a free state, and nevertheless was
recognised as an element because its combinations with other
elements were known, and their difference from all other
similar compound substances was determined. In order to
grasp the difference between the conception of the visible
form of an element as we know it in the free state, and of the
intrinsic element (or ‘radicle,’ as Lavoisier called it) contained
42. in the visible form, it should be remarked that compound
substances also combine together forming yet more complex
compounds, and that they evolve heat in the process of
combination. The original compound may often be extracted
from these new compounds by exactly the same methods as
elements are extracted from their corresponding
combinations. Besides, many elements exist under various
visible forms whilst the intrinsic element contained in these
various forms is something which is not subject to change.
Thus carbon appears as charcoal, graphite, and diamond, but
yet the element carbon alone, contained in each, is one and
the same. Carbonic anhydride contains carbon, and not
charcoal, or graphite, or the diamond.
Elements alone, although not all of them, have the peculiar
lustre, opacity, malleability, and the great heat and electrical
conductivity which are proper to metals and their mutual
combinations. But elements are far from all being metals.
Those which do not possess the physical properties of metals
are called non-metals (or metalloids). It is, however,
impossible to draw a strict line of demarcation between
metals and non-metals, there being many intermediary
substances. Thus graphite, from which pencils are
manufactured, is an element with the lustre and other
properties of a metal; but charcoal and the diamond, which
are composed of the same substance as graphite, do not
show any metallic properties. Both classes of elements are
clearly distinguished in definite examples, but in particular
cases the distinction is not clear and cannot serve as a basis
for the exact division of the elements into two groups.
The conception of elements forms the basis of chemical
knowledge, and in giving a list of them at the very beginning
43. of our work, we wish to tabulate our present knowledge on
the subject. Altogether about seventy elements are now
authentically known, but many of them are so rarely met with
in nature, and have been obtained in such small quantities,
that we possess but a very insufficient knowledge of them.
The substances most widely distributed in nature contain a
very small number of elements. These elements have been
more completely studied than the others, because a greater
number of investigators have been able to carry on
experiments and observations on them. The elements most
widely distributed in nature are:—
Hydrogen, H=1.
In water, and in animal and vegetable
organisms.
Carbon, C=12. In organisms, coal, limestones.
Nitrogen, N=14. In air and in organisms.
Oxygen, O=16.
In air, water, earth. It forms the greater
part of the mass of the earth.
Sodium, Na=23. In common salt and in many minerals.
Magnesium, Mg=24. In sea-water and in many minerals.
Aluminium, Al=27. In minerals and clay.
Silicon, Si=28. In sand, minerals, and clay.
Phosphorus, P=31. In bones, ashes of plants, and soil.
Sulphur, S=32. In pyrites, gypsum, and in sea-water.
Chlorine, Cl=35·5.
In common salt, and in the salts of
sea-water.
Potassium, K=39.
In minerals, ashes of plants, and in
nitre.
Calcium, Ca=40.
In limestones, gypsum, and in
organisms.
Iron, K=56.
In the earth, iron ores, and in
organisms.
44. Besides these, the following elements, although not very
largely distributed in nature, are all more or less well known
from their applications to the requirements of everyday life or
the arts, either in a free state or in their compounds:—
Lithium, Li=7.
In medicine (Li2CO3), and in
photography (LiBr).
Boron, B=11.
As borax, B4Na2O7, and as boric
anhydride, B2O3.
Fluorine, F=19.
As fluor spar, CaF2, and as hydrofluoric
acid, HF.
Chromium, Cr=52.
As chromic anhydride, CrO3, and
potassium dichromate, K2Cr2O7.
Manganese,Mn=55.
As manganese peroxide, MnO2, and
potassium permanganate, MnKO4.
Cobalt, Co=59·5. In smalt and blue glass.
Nickel, Ni=59·5. For electro-plating other metals.
Copper, Cu=63. The well-known red metal.
Zinc, Zn=65.
Used for the plates of batteries,
roofing, &c.
Arsenic, As=75. White arsenic (poison), As2O3.
Bromine, Cu=80.
A brown volatile liquid; sodium
bromide, NaBr.
Strontium, Sr=87. In coloured fires (SrN2O6).
Silver, Ag=109. The well-known white metal.
Cadmium, Cd=112. In alloys. Yellow paint (CdS).
Tin, Sn=119. The well-known metal.
Antimony, Sb=120. In alloys such as type metal.
Iodine, I=127.
In medicine and photography; free,
and as KI.
45. Barium, Ba=137.
“Permanent white,” and as an
adulterant in white lead, and in heavy
spar, BaSO4.
Platinum, Pt=196.
Well-known metals.
Gold, Au=197.
Mercury, Hg=200.
Lead, Pb=207.
Bismuth, Bi=209. In medicine and fusible alloys.
Uranium, U=239. In green fluorescent glass.
The compounds of the following metals and semi-metals
have fewer applications, but are well known, and are
somewhat frequently met with in nature, although in small
quantities:—
Beryllium, Be=9. Palladium,Pd=107.
Titanium, Ti=48. Cerium, Ce=140.
Vanadium, V=51. Tungsten, W=184.
Selenium, Se=79. Osmium, Os=192.
Zirconium, Zr=91. Iridium, Ir=193.
Molybdenum,Mo=96. Thallium, Tl=204.
The following rare metals are still more seldom met with in
nature, but have been studied somewhat fully:—
Scandium, Sc=44. Germanium,Ge=72.
Gallium, Ga=70. Rubidium, Rb=86.
Yttrium, Y=89. Cæsium, Cs=133.
Niobium, Nb=94. Lanthanum, La=138.
Ruthenium,Ru=102. Didymium, Di=142.
Rhodium, Rh=103. Ytterbium, Yb=173.
Indium, In=114. Tantalum, Ta=183.
Tellurium, Te=125. Thorium, Th=232.
46. Besides these 66 elements there have been discovered:—
Erbium, Terbium, Samarium, Thullium, Holmium, Mosandrium,
Phillipium, and several others. But their properties and
combinations, owing to their extreme rarity, are very little
known, and even their existence as independent
substances[28]
is doubtful.
It has been incontestably proved from observations on the
spectra of the heavenly bodies that many of the commoner
elements (such as H, Na, Mg, Fe) occur on the far distant
stars. This fact confirms the belief that those forms of matter
which appear on the earth as elements are widely distributed
over the entire universe. But we do not yet know why, in
nature, the mass of some elements should be greater than
that of others.[28 bis]
The capacity of each element to combine with one or
another element, and to form compounds with them which
are in a greater or less degree prone to give new and yet
more complex substances, forms the fundamental character
of each element. Thus sulphur easily combines with the
metals, oxygen, chlorine, or carbon, whilst gold and silver
enter into combinations with difficulty, and form unstable
compounds, which are easily decomposed by heat. The cause
or force which induces the elements to enter into chemical
change must be considered, as also the cause which holds
different substances in combination—that is, which endues
the substances formed with their particular degree of stability.
This cause or force is called affinity (affinitas, affinité,
Verwandtschaft), or chemical affinity.[29]
Since this force must
be regarded as exclusively an attractive force, like gravity,
many writers (for instance, Bergmann at the end of the last,
and Berthollet at the beginning of this, century) supposed
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