Modeling and Analysis of Passive

Vibration Isolation Systems 1st Edition

Sudhir Kaul - eBook PDF
Go to download the full and correct content document:
https://ebooksecure.com/download/modeling-and-analysis-of-passive-vibration-isolati
on-systems-ebook-pdf/
More products digital (pdf, epub, mobi) instant
download maybe you interests ...

(eBook PDF) Modeling and Analysis of Dynamic Systems

3rd Edition

http://ebooksecure.com/product/ebook-pdf-modeling-and-analysis-
of-dynamic-systems-3rd-edition/

(eBook PDF) Modeling, Analysis and Control of Dynamical

Systems: With Friction and Impacts

http://ebooksecure.com/product/ebook-pdf-modeling-analysis-and-
control-of-dynamical-systems-with-friction-and-impacts/

Modeling and Simulation of Dynamic Systems 1st Edition

Robert L. Woods - eBook PDF

https://ebooksecure.com/download/modeling-and-simulation-of-
dynamic-systems-ebook-pdf/

Predictive Modeling in Biomedical Data Mining and

Analysis 1st Edition- eBook PDF

https://ebooksecure.com/download/predictive-modeling-in-
biomedical-data-mining-and-analysis-ebook-pdf/
Polymers for vibration damping applications 1st Edition
- eBook PDF

https://ebooksecure.com/download/polymers-for-vibration-damping-
applications-ebook-pdf/

Damage Modeling of Composite Structures: Strength,

Fracture, and Finite Element Analysis 1st Edition
Pengfei Liu - eBook PDF

https://ebooksecure.com/download/damage-modeling-of-composite-
structures-strength-fracture-and-finite-element-analysis-ebook-
pdf/

Seaweed polysaccharides : isolation, biological and

biomedical applications 1st Edition Anil - eBook PDF

https://ebooksecure.com/download/seaweed-polysaccharides-
isolation-biological-and-biomedical-applications-ebook-pdf/

Essentials of Systems Analysis and Design 6th Edition

(eBook PDF)

http://ebooksecure.com/product/essentials-of-systems-analysis-
and-design-6th-edition-ebook-pdf/

Quantitative Analysis and Modeling of Earth and

Environmental Data: Space-Time and Spacetime Data
Considerations 1st Edition Jiaping Wu - eBook PDF

https://ebooksecure.com/download/quantitative-analysis-and-
modeling-of-earth-and-environmental-data-space-time-and-
spacetime-data-considerations-ebook-pdf/
MODELING AND
ANALYSIS OF
PASSIVE VIBRATION
ISOLATION SYSTEMS
MODELING AND
ANALYSIS OF
PASSIVE VIBRATION
ISOLATION SYSTEMS

SUDHIR KAUL
Associate Professor, School of Engineering and Technology,
Western Carolina University, Cullowhee, NC, USA
Elsevier
Radarweg 29, PO Box 211, 1000 AE Amsterdam, Netherlands
The Boulevard, Langford Lane, Kidlington, Oxford OX5 1GB, United Kingdom
50 Hampshire Street, 5th Floor, Cambridge, MA 02139, United States

Copyright © 2021 Elsevier Inc. All rights reserved.

No part of this publication may be reproduced or transmitted in any form or by any means,
electronic or mechanical, including photocopying, recording, or any information storage
and retrieval system, without permission in writing from the publisher. Details on how to
seek permission, further information about the Publisher’s permissions policies and our
arrangements with organizations such as the Copyright Clearance Center and the
Copyright Licensing Agency, can be found at our website: www.elsevier.com/permissions.

This book and the individual contributions contained in it are protected under copyright
by the Publisher (other than as may be noted herein).
Notices
Knowledge and best practice in this field are constantly changing. As new research and
experience broaden our understanding, changes in research methods, professional practices,
or medical treatment may become necessary.
Practitioners and researchers must always rely on their own experience and knowledge in
evaluating and using any information, methods, compounds, or experiments described
herein. In using such information or methods they should be mindful of their own safety
and the safety of others, including parties for whom they have a professional responsibility.
To the fullest extent of the law, neither the Publisher nor the authors, contributors, or
editors, assume any liability for any injury and/or damage to persons or property as a matter
of products liability, negligence or otherwise, or from any use or operation of any methods,
products, instructions, or ideas contained in the material herein.
British Library Cataloguing-in-Publication Data
A catalogue record for this book is available from the British Library

Library of Congress Cataloging-in-Publication Data

A catalog record for this book is available from the Library of Congress

ISBN: 978-0-12-819420-1

For Information on all Elsevier publications visit our website at

https://www.elsevier.com/books-and-journals

Publisher: Matthew Deans

Acquisitions Editor: Dennis McGonagle
Editorial Project Manager: Hilary Carr
Production Project Manager: Prasanna Kalyanaraman
Cover Designer: designer Christian Bilbow

Typeset by Aptara, New Delhi, India

Contents

Preface vii
Dedication ix
Acknowledgment xi

1. Vibration isolation—background 1
1.1 Introduction 1
1.2 Isolator materials 1
1.3 Common elastomeric isolator designs 4
1.4 Stiffness and damping 4
1.5 Single-degree-of-freedom system 9
1.6 Multiple-degree-of-freedom system 16
Review exercises 24
References 25

2. Viscoelastic modeling—passive vibration isolators 27

2.1 Viscoelasticity 27
2.2 Voigt or Kelvin–Voigt model 28
2.3 Zener model 30
2.4 Maxwell–Voigt model 33
2.5 Generalized Maxwell or Maxwell Ladder model 37
2.6 Voigt fractional model 40
2.7 MV fractional model 42
2.8 Hysteresis model 44
Review exercises 58
References 60

3. Vibration isolation system modeling 61

3.1 Planar isolation systems (three degrees-of-freedom) 61
3.2 Spatial isolation systems (six DOFs) 67
3.3 Vibration isolation system with displacement limiting design 70
3.4 Vibration isolation system with hysteresis 73
Review exercises 88
References 89

v
vi Contents

4. Vibration isolation systems—nonlinear models 91

4.1 Single degree-of-freedom isolator with stiffness nonlinearity 91
4.2 Single-DOF isolator with stiffness and damping nonlinearity 99
4.3 Planar isolation system with stiffness and damping nonlinearity 104
4.4 Other nonlinear models 107
Review exercises 116
References 117

5. Modeling elastomer characteristics 119

5.1 Mullins effect 119
5.2 Payne effect 124
5.3 Aging 128
5.4 Creep 131
5.5 Hyperelastic model 135
Review exercises 140
References 141

6. Modeling inertia effect 143

6.1 Inertia effect 143
6.2 Inertia effect—single-degree-of-freedom model 145
6.3 Inertia effect—two-degree-of-freedom model 153
6.4 Inertia effect—three-degree-of-freedom model 162
Review exercises 168
References 169

7. Elastomeric vibration isolator design 171

7.1 Example—single-degree-of-freedom isolator design 171
7.2 Example—planar isolation system design 178
7.3 Example—spatial isolation system design 184
7.4 Case studies 190
References 207
Appendix A 209
Appendix B 215
Index 219
Preface

Passive vibration isolators are widely used in areas such as automotive,

aerospace, manufacturing, heavy machinery, and civil structures. On the one
hand, the design and development of passive vibration isolators is a mature
technology. On the other hand, analytical modeling of such isolation systems
is still evolving due to the multifaceted intersection of different disciplines.
The aim of this book is to serve as a reference for engineers and researchers
involved in the design,development,modeling,analysis,and testing of passive
vibration isolation systems.
This book has been divided into seven chapters.Chapter 1 presents a brief
review of vibration analysis and terminology. The aim of this chapter is to
serve as a refresher; this chapter can be used in conjunction with Appendix
A and Appendix B to recapitulate the content from an introductory course
in vibration analysis. Chapter 2 presents several linear viscoelastic rheological
models that can be used for a single-degree-of-freedom analysis of vibration
isolation systems. The main attributes of each model are discussed in this
chapter along with the governing relationships between critical model and
design parameters. Chapter 3 presents linear viscoelastic models for planar
(two- and three-degree-of-freedom) and spatial (six-degree-of-freedom)
vibration isolation systems. Additional models for piecewise behavior and
hysteretic systems are also presented in this chapter. Chapter 4 presents
nonlinear models for single-degree-of-freedom systems as well as multiple-
degree-of-freedom systems that can be used for the analysis of passive
vibration isolation. Although nonlinearities can be attributed to multiple
sources, this chapter primarily focuses on analytical models for a few specific
nonlinearities associated with stiffness and damping characteristics. Chapter
5 presents models that are typically used for the analysis of elastomeric
vibration isolators. Models that can be used to represent such phenomena
as Mullins effect, Payne effect, hyperelasticity, aging, and creep have been
discussed in this chapter. Chapter 6 presents models that can be used to
account for the inertia effect that is typically observed in vibration isolation
systems that need to withstand very high excitation frequencies. These
models allow an evaluation of vibroacoustic characteristics well above 1
kHz while capturing internal resonance and wave effects. Chapter 7 presents
examples and case studies that integrate concepts from the models presented
in the previous chapters of the book while demonstrating the influence of

vii
viii Preface

the vibration isolation system on overall system dynamics. There are two
brief appendices that may be used as a refresher on ordinary differential
equations and matrix algebra. Each chapter has a few exercise problems that
can be solved to test the understanding of the content presented in the
chapter.
The models discussed in this book encompass a wide range that can
be useful for the analysis of passive vibration isolation systems. While some
of the models presented in this book have been used for quite some time,
others are relatively new and offer useful options for gaining an analytical
insight that can be used for design. Furthermore, some of the models are
phenomenological, while others are semi-empirical; therefore allowing a
design or analysis engineer to customize the models during the product
development process. Some of the models for elastomeric materials and
nonlinear behavior that have been discussed in this book are active areas
of research and continue to be discussed and investigated in the existing
literature. A surge in the use of electric powertrains has resulted in new
requirements for passive vibration isolation systems, a few models presented
in this book are possible options for the analysis of internal resonance in
such systems. I hope that the variety of models discussed in this book is
useful in the design and development of passive vibration isolation systems
by holistically accounting for vibration response, system dynamics, design
parameters, and isolator design.
Dedication

Dedicated to my mother, whose life was a beacon of perseverance, resilience,

humility, and kindness.
Dedicated to my father, whose life continues to inspire me with an insatiable
love for learning.

ix
Acknowledgments

I would like to acknowledge the help received from the entire publishing
team at Elsevier. I also want to acknowledge the support received from
Western Carolina University and all my colleagues, students, peers, and
collaborators over the years. While many individuals have helped in shaping
my understanding of the content of this book, two individuals merit
special mention. I want to express my gratitude to my graduate advisor
at the University of Wisconsin-Milwaukee, Dr. Anoop Dhingra, and my
supervisor at Harley Davidson Motor Company, Dr. Tim Hunter, for
introducing me to different aspects of passive vibration isolation. Finally, I
want to thank my wife for her love, patience, and understanding during this
endeavor.
I would be remiss in failing to acknowledge the contribution of many
individuals who have shaped my academic journey, this includes many
teachers from my school and professors from the universities I attended.
I also want to thank my sister for being my very first teacher and mentor.

xi
CHAPTER 1

Vibration isolation—
background

Contents
1.1 Introduction 1
1.2 Isolator materials 2
1.3 Common elastomeric isolator designs 4
1.4 Stiffness and damping 6
1.5 Single-degree-of-freedom system 9
1.6 Multiple-degree-of-freedom system 17
Review exercises 24
References 25

1.1 Introduction
The use of vibration isolators and vibration isolation systems is widely
prevalent in multiple applications such as automotive, railroad, aerospace,
heavy machinery, civil structures, etc. Some of the main reasons for using
a vibration isolator include mitigation of resonance peaks, reduction of
transmissibility, enhancement of fatigue life, improvement in ergonomics,
etc. in the presence of external or internal sources of dynamic excitation.
The design of a vibration isolator requires a close examination of multiple
considerations such as the source of dynamic excitation, range of excitation
frequency, excitation amplitude, allowable displacement, acceleration limits
of the isolated system, available design envelope, etc. Additionally, consider-
ations of environmental conditions, manufacturability, and material choice
are also important. All these considerations accentuate the importance of
a theoretical model that can reasonably predict the performance of the
isolation system before finalizing the design and before manufacturing
prototypes that can be used for testing. Therefore, it is critical to select a
suitable model that can be correlated to test results and eventually used to
finalize design details.
Modeling and Analysis of Passive Vibration Isolation Systems. Copyright © 2021 Elsevier Inc.
DOI: 10.1016/B978-0-12-819420-1.00007-8 All rights reserved. 1
2 Modeling and analysis of passive vibration isolation systems

1.2 Isolator materials

Vibration isolation can be achieved by using materials capable of providing
a combination of highly elastic behavior in conjunction with damping
properties. Pneumatic, hydraulic, elastic metal, and elastomeric designs are
commonly used in commercial vibration isolation applications. Elastomeric
materials are arguably most common and are extensively used in the industry
with a very commonly used design consisting of elastomeric material
bonded to metal plates or a metal core. Such isolators are typically called
elastomeric mounts. Natural rubber, neoprene, and butyl rubber are some of
the commonly used elastomers in commercial vibration isolators. Elastomers
provide a designer with a range of stiffness and damping characteristics
as well as an ability to withstand different environmental conditions. This
ability to satisfy performance requirements over a wide range of rugged
conditions along with the ease of manufacturing through a molding process
make elastomers a common choice for isolators during the design process.
Table 1.1 lists some of the commonly used elastomers for manufacturing
passive vibration isolators with a listing of some of their characteristics
that can be considered during design. In addition to the commonly used
elastomers, manufacturers often develop proprietary elastomeric recipes
to serve the needs of a specific design that may require a combination
of properties from different materials. Properties of elastomeric materials
can be changed significantly by changing their composition or by using
different blends.A typical manufacturing process of the raw material involves
vulcanization by adding sulfur and by the addition of accelerators, fillers, and
plasticizers (Mark, Erman, & Roland, 2013). The raw material is then used
in a molding process to produce a vibration isolator of the designed shape
and size to deliver the necessary stiffness and damping properties. While
there are many characteristics that are sought from the design of a vibration
isolator, some of the common technical properties that a designer seeks to
comprehend are damping, dynamic stiffness, environmental resistance, and
some of the inherent nonlinearities.
Metal springs have been commonly used for vibration isolation ap-
plications as they can be designed to offer a range of stiffness properties
in heavy machinery applications. Most of these designs do not allow
much flexibility with damping as most metal springs offer relatively low
material damping. Coil springs, disc springs, slotted springs, etc. are some
examples of metal springs commonly used in vibration isolation applications
(Rivin, 2003).
 Vibration isolation—background 3

Table 1.1 Commonly used elastomeric materials.

Material Key characteristics
Natural rubber or Good processability, high elongation, high
polyisoprene (NR) tensile strength, relatively low damping
ratio, good bonding to metals,
moderate-to-low oil resistance,
moderate-to-low chemical resistance,
operating temperature: −30 to 160 °F.
Neoprene or Good abrasion resistance, good tear strength,
polychloroprene mechanical properties similar to NR,
moderate oil resistance, moderate chemical
resistance, flame retarding, operating
temperature: −20 to 180 °F.
Nitrile or acrylonitrile Good abrasion resistance, high oil resistance,
butadiene resistance to swelling, conductor of
electricity, operating temperature: −30 to
250 °F
Styrene butadiene High abrasion resistance, moderate-to-high
oil resistance, moderate-to-high chemical
resistance, good electrical insulator,
operating temperature: −20 to 210 °F
Ethylene-propylene-diene High abrasion resistance, relatively higher
terpolymer damping ratio, moderate tear resistance,
low oil resistance, low chemical resistance,
operating temperature −40 to 300 °F

In some cases, it is common to use a separate damper to augment

damping of the vibration isolation system. Viscous dampers are designed
to offer resistance to relative motion between two surfaces that are typically
separated through a fluid film. Some of these dampers can exhibit nonlinear
behavior due to strong temperature dependence. Since the early 1990s,
magnetorheological (MR) dampers have been developed by researchers and
manufacturers to provide smart damping properties that can be controlled
through input current to an electromagnet that in turn governs the behavior
of the damper. MR fluids consist of micron-sized particles in a carrier
fluid, an MR damper allows control over the apparent viscosity of the
fluid by controlling the magnetic flux of the electromagnet. Such a damper
is considered to be a semi-active system that can be used for vibration
isolation and control (Choi & Wereley, 2008; Dominguez, Sedaghati, &
Stiharu, 2004). Friction dampers and electromagnetic dampers are other
4 Modeling and analysis of passive vibration isolation systems

examples of dampers that have been used in some vibration isolation

applications.
A hydraulic mount, also called a hydromount, is another vibration isola-
tor that has been used in automotive applications. Such an isolator provides
properties that are amplitude dependent as well as frequency dependent. The
isolator typically consists of two chambers connected through a channel that
allows fluid passage from one chamber to the other. This design allows the
vibration isolator to exhibit low stiffness and high damping for dynamic
excitations with large amplitude and low frequency while demonstrating
low damping at small amplitude and high frequency vibrations (Truong
& Ahn, 2010). Different designs of hydromounts have been used in some
automotive applications to provide dynamic characteristics that can be tuned
to provide a frequency-dependent behavior.

1.3 Common elastomeric isolator designs

Some of the common designs of passive vibration isolators involve elas-
tomeric material bonded to metal plates or a metal core with a static member
that is assembled to a rigid frame and a dynamic member that separates
the isolated components from the source of dynamic excitation. There are
some designs that consist of elastomeric materials without being bonded to a
metal plate or a metal core, such designs typically do not need to withstand
high static loads. Passive elastomeric isolators are generally designed to be
under compression loading or shear loading with circular or rectangular
cross sections being the most commonly used. Grommets, bushings, etc.
are also common examples of passive elastomeric isolators. Some of the
commonly used design configurations of elastomeric isolators are shown in
Table 1.2.
Most elastomeric isolators exhibit varying amounts of creep. Creep is ex-
hibited in the form of an increasing deformation even when the load is static.
Creep behavior is exponential and time dependent. Upon removal of the
static load, creep is mostly reversible but leaves some residual strain or per-
manent set in the elastomer. Dynamic loads can also result in an increasing
deformation in elastomeric isolators with every loading cycle,this property is
often referred to as the dynamic set. In elastomeric isolator design, it is com-
mon to allow for 10% deflection to account for creep and dynamic set. Some
specific characteristics of elastomeric isolators will be discussed in detail in
Chapter 5.
 Vibration isolation—background 5

Table 1.2 Examples of passive elastomeric isolator designs.

6 Modeling and analysis of passive vibration isolation systems

1.4 Stiffness and damping

Stiffness and damping are two main characteristics sought from a vibration
isolator and are used for characterizing a dynamic model. Stiffness identifies
the ability of a material to withstand applied force. The stiffness constant
or the spring constant (k) of an isolator is defined as the force per unit
deflection, expressed as follows:
F
k= (1.1)
x
In Eq. (1.1), F is the force and x is the corresponding deflection. A
relatively higher stiffness indicates a higher value of k, in turn implying that a
higher force is necessary to obtain the same amount of deflection. For linear
elastic behavior, the stiffness constant is directly related to the modulus of
elasticity of the material. The modulus of elasticity of elastomeric materials
is significantly lower, and the material regains its original shape and size very
quickly after undergoing significant deformation. Eq. (1.1) identifies a linear
relationship, some of the passive isolator designs may not be represented by
this stiffness model. Such cases will be discussed in the chapter on nonlinear
vibration isolators. Often, an equivalent stiffness is computed for developing
a dynamic model when multiple isolators (or spring elements) are connected
together. An example of calculating the equivalent stiffness is presented in
Example 1.1.
Example 1.1: Find the equivalent stiffness for the system of springs in (A)
parallel and (B) series shown in Fig. 1.1.
For the two springs in parallel F = (k1 + k2 )x, this can be identified
from the free-body diagram as an external force causes the same deflection
in both the springs. This relationship can be used to write the ratio of force

A B
Figure 1.1 Springs in parallel and springs in series.
 Vibration isolation—background 7

and deflection as Fx = k1 + k2 . Therefore, for the two springs in parallel,

the equivalent spring constant can be expressed as the sum of the spring
constants: keq = k1 + k2 , thereby expressing the force-deflection ratio as
F
x
= keq . It can be seen that the equivalent spring constant (keq ) of the
springs in parallel is higher than the spring constant of each spring.In general,
the equivalent spring  constant for any number of springs in parallel can be
calculated as keq = ki .For the two springs in series,F = k1 x1 = k2 x2 = keq x
i
as the force in both the springs remains the same. The overall deflection, x,
is the sum of the individual deflection x1 and x2 of each spring, x1 + x2 = x.
Substitution from the force equation results in the following: kF1 + kF2 = kFeq .
These two equations can be used to calculate the equivalent spring constant
of the two springs in series as keq = 1 +1 1 . The overall equivalent spring
k1 k2
constant keq of the springs in series is lesser than the spring constant of each
spring. In general, the equivalent spring constant for any number of springs
in series can be calculated as keq = 1 1 . It may be noted that spring
ki
elements may be connected through a combination of series and parallel
configurations. However, the equivalent spring constant of the system can
be calculated by using a term-by-term reduction of the series and parallel
configurations.
As vibration isolation systems can be subject to a wide range of excitation
frequencies, it is common to represent the force-deflection relationship in
terms of complex stiffness. For an input displacement of x = Xejωt and an
output force of f = Fej(ωt + ϕ ) , complex stiffness is the ratio between the force
and the corresponding displacement and is expressed as
 

f F F F  k
k∗ = = e jϕ = cos(ϕ) + j sin(ϕ) = k + jk = k 1 + j 
x X X X k
(1.2)
In Eq. (1.2), k∗ is complex stiffness that is often expressed in terms of the
magnitude and phase from Eq. (1.2) as

|k∗ | = k 2 + k 2 (1.3)


η= k
k
= tan(ϕ) (1.4)

In Eq. (1.3), |k∗ | is the magnitude of complex stiffness, often called

dynamic stiffness, and η is called the loss factor that is directly related to
the phase angle, ϕ, as seen in Eq. (1.4). This form of stiffness is commonly
8 Modeling and analysis of passive vibration isolation systems

used in case of hysteretic damping, with a lag between the applied force and
the resulting deformation.
Damping is a complex phenomenon that can be used to indirectly
represent the energy dissipated by the vibration isolation system during
repeated or cyclic loading. Viscous damping is commonly used to model
the damping of many vibration isolators. In some cases, hysteretic damping is
more suitable to represent the damping of a vibration isolator, which will be
discussed further in subsequent chapters.Three variables used to characterize
viscous damping are the damping constant, the critical damping constant,
and the damping ratio (also called the damping factor). The damping
constant (c) is defined as applied force per unit relative velocity

F
c= (1.5)
v

In Eq. (1.5), v is the relative velocity corresponding to the applied force, F.

Critical damping is defined to identify the limiting case between oscillatory
and nonoscillatory motion, and the critical damping constant is defined
as
√
cc = 2 km (1.6)

In Eq. (1.6), k is the stiffness constant and m is the mass of the system.
The damping ratio is defined as the unitless ratio between the damping
constant and the critical damping constant.

c
ξ= (1.7)
cc

In Eq. (1.7), ξ is the damping ratio. A system is said to be undamped

when the damping ratio is zero, this is an idealization that is sometimes
used in preliminary modeling of an isolation system. A system is said to be
underdamped when the damping ratio is between zero and one, this is the
most common case in vibration isolation modeling. A system is said to be
overdamped when the damping ratio is above one. If the damping ratio is
equal to one, the system is said to be critically damped. Vibration isolators are
most commonly modeled as spring-damper units with stiffness and damping
characteristics that are used to isolate a system from an excitation source or
to isolate one subsystem from another.
 Vibration isolation—background 9

For hysteretic damping, an equivalent damping ratio, ξ eq , and an equiva-

lent damping constant, ceq , are defined as
η
ξeq = (1.8)
2

k √
ceq = = η mk (1.9)
ω
In Eqs. (1.8) and (1.9), η is the loss factor defined in Eq. (1.4). It may
be noted that the equivalent damping ratio and the equivalent damping
constant assume a harmonic response, with frequency ω, to a harmonic

excitation. The variables k and k are the variables associated with complex
stiffness, as seen in Eqs. (1.2) and (1.3). It may be noted that some systems may
exhibit friction damping,details about such damping can be found in various
studies (Balachandran & Magrab, 2019; Inman, 2014; Thomson & Dahleh,
1998; Inman, 2014; Meirovitch, 1997; Rao, 2007 2017; Tongue, 2002).

1.5 Single-degree-of-freedom system

Degree of freedom (DOF) is defined as the minimum number of inde-
pendent parameters needed to locate a rigid body in space. A single DOF
(SDOF) system is the simplest form of a vibrating system often used as a
preliminary model for vibration isolation. Such a model consists of a rigid
body connected to one or multiple springs or a spring-damper unit. The
system is said to be undamped if it is modeled without damping. This section
presents the solution of an SDOF system that will be used in subsequent
chapters. The equation of motion (EOM) for an undamped SDOF system
without any external excitation, shown in Fig. 1.2, can be expressed as
..
m x +kx = 0 (1.10)
In Eq. (1.10), m is the mass of the system and k is the stiffness constant,
while x is the deflection due to any external perturbation that the sys-
tem may be subject to (from its state of static equilibrium). Eq. (1.10) is
a homogeneous second-order differential equation with the following
solution:
x(t ) = c1 cos(ωnt ) + c2 sin(ωnt ) (1.11)
In Eq. (1.11), c1 and c2 are two constants that
 can be determined from
the initial conditions of the system, and ωn = mk is the natural frequency
10 Modeling and analysis of passive vibration isolation systems

Figure 1.2 Undamped SDOF system-free vibration.

of the system. Eq. (1.11) provides the time (t) history of displacement for
the undamped system when it is perturbed from its static equilibrium. The
steps in the development of the solution in Eq. (1.11) are not presented here.
Appendix A provides a brief introduction to the solution of the second-
order differential equations.
The EOM for an undamped SDOF system in the presence of an
excitation input can be expressed as
..
m x +kx = f (1.12)
In Eq. (1.12), f is the excitation force. The solution to the EOM in
Eq. (1.12) is a combination of the homogeneous and the particular solution
for a general excitation force, f = f0 ejωt , with an excitation frequency of ω,
and can be written as
f0 /k
x(t ) = c1 cos(ωnt ) + c2 sin(ωnt ) +   2
(1.13)
1 − ωωn

The solution in Eq. (1.13) can be expressed in different forms depending

on the ratio between the excitation frequency and the natural frequency of
the system.
The EOM for a damped SDOF system with viscous damping and
without any external excitation, shown in Fig. 1.3, can be expressed as
.. .
m x +c x +kx = 0 (1.14)
The solution for the EOM of the damped system in Eq. (1.14) is
x(t ) = c1 eλ1t + c2 eλ2t (1.15)
 Vibration isolation—background 11

Figure 1.3 Damped SDOF system—free vibration.

In Eq. (1.15), c1 and c2 are two constants that can be determined from
Also, the solution varies with the nature of λ1 and
the initial conditions. 
2
λ2 , λ1,2 = − 2m c
± c
2m
− mk , to determine whether the system is
underdamped, overdamped, or critically damped. The steps needed for
solving the governing differential equation in Eq. (1.14) are provided in
Appendix A.
For vibration isolation, underdamping is the specific case of interest. For
underdamping, 0 < ξ < 1 and the solution in Eq. (1.15) can be modified as
follows:

x(t ) = e−ξ ωnt c1 cos(ωd t ) + c2 sin(ωd t ) (1.16)

In Eq. (1.16), c1 and c2 are two 

constants that can be determined from
the initial conditions, and ωd = ωn 1 − ξ 2 is the damped frequency, while
ωn is the undamped natural frequency. It may be noted that for ξ = 0, the
solution in Eq. (1.16) becomes identical to the solution of the undamped
system in Eq. (1.11).
The EOM for a damped SDOF system in the presence of an excitation
input can be expressed as
..
m x +cx + kx = f (1.17)

In Eq. (1.17), f is the excitation force. The solution to the EOM in

Eq. (1.17) is a combination of the homogeneous and the particular solution
for a general excitation force, f = f0 ejωt , with an excitation frequency of ω,
12 Modeling and analysis of passive vibration isolation systems

and can be expressed as

 f0
x(t ) = e−ξ ωnt c1 cos(ωd t ) + c2 sin(ωd t ) +  e j(ωt−ϕ)
2 1/2
(k − mω2 )2 + (ωc)
(1.18)
In Eq. (1.18), ϕ is the phase angle between excitation force and the
resulting displacement and can be found as

−1 ωc
ϕ = tan (1.19)
k − mω2
Examples of the response of undamped and damped SDOF systems are
presented in Example 1.2.
Although the closed-form solution of Eq. (1.17) is readily available, it is
common to express the second-order equation as a system of the first-order
equations as follows:
.
x1 = x2 (1.20)

. c k f
x2 = − x2 − x1 + (1.21)
m m m
.
In Eqs. (1.20) and (1.21), x1 = x and x2 = x The system in Eqs. (1.20) and
(1.21) is equivalent to Eq. (1.17). The main advantage of expressing the
second-order differential equation as a system of the first-order differential
equations is the use of numerical methods. This is particularly beneficial for
a nonlinear system as a closed-form solution may not be readily available for
such a system. The system in Eqs. (1.20) and (1.21) can also be expressed in
a matrix form as
.      
x1 0 1 x1 0
. = + 1 f (1.22)
x2 − mk − mc x2 m

The formulation in Eq. (1.22) is commonly called the state-space form

of the system.
The solution in this section is limited to harmonic excitation. The
excitation force may not always be harmonic. In such cases, alternative
methods are used to solve the governing EOM. Methods such as Fourier
series, convolution, Laplace transform, etc. can be found in introductory text
books such as (Rao, 2017) (Thomson & Dahleh, 1998). A brief review of
some of the properties of the Laplace transform and the Fourier transform
is provided in Appendix A.
 Vibration isolation—background 13

Figure 1.4 Undamped SDOF—free vibration response.

Example 1.2a: For an undamped SDOF system, as shown in Figure 1.2,

with a mass (m) of 1 kg, a stiffness constant (k) of 10,000 N/m, and the
given initial conditions, plot the free vibration response. The given initial
.
conditions are as follows: x(0) = 0.01 m and x(0) = 0.1 m/s. Using the
solution from Eq. (1.11) and applying the initial conditions, the two constants
can be found as c1 = 0.01 and c2 = 0.001. Free vibration response can be
expressed as
x(t ) = 0.01 cos(100t ) + 0.001 sin(100t ) (E1.2.1)
The natural frequency of the system is 100 rad/s or 15.9155 Hz and the
natural time-period is the reciprocal of the natural frequency, 0.0628 s. The
first few cycles of free vibration response are shown in Fig. 1.4 by plotting
the response, x(t).
Example 1.2b: For a damped SDOF system, as shown in Fig. 1.3, with
a mass of 1 kg, a stiffness of 10,000 N/m, a viscous damping constant of
50 N-s/m, and the given initial conditions, plot the free vibration response.
.
The given initial conditions are as follows: x(0) = 0.01 m and x(0) =
0.1 m/s. The critical damping constant for the system is 200 N-s/m. This
14 Modeling and analysis of passive vibration isolation systems

Figure 1.5 Damped SDOF—free vibration response.

can be used to calculate the damping ratio of 0.25. As the damping ratio is
less than one, the solution for an underdamped system in Eq. (1.16) can be
used. The natural frequency of the system is 100 rad/s. Applying the initial
conditions, the free vibration response can be expressed as
x(t ) = e−25t [0.01 cos(96.82t ) + 0.0036 sin(96.82t )] (E1.2.2)
The undamped natural frequency of the system is 100 rad/s and the
undamped natural time-period is 0.0628 s. However, the damped natural
frequency is 96.82 rad/s and the corresponding time-period is 0.0649 s.
The free vibration response of the viscous damped system is shown in
Fig. 1.5.
In addition to using the time domain, it is often beneficial to use the
frequency domain for vibration analysis. Applying Fourier transform to the
EOM in Eq. (1.17) with zero initial conditions yields the following:
−mω2 X (ω) + jcωX (ω) + kX (ω) = F (ω) (1.23)
In Eq. (1.23), X(ω) and F(ω) are the Fourier transforms for x(t) and f(t),
respectively. The transformed equation in Eq. (1.23) is often expressed in
 Vibration isolation—background 15

the form of the ratio between X(ω) and F(ω), called the frequency response
function (FRF), and is expressed as
X (ω) 1
= (1.24)
F (ω) (k − mω2 + jcω)
The ratio in Eq.(1.24) is commonly used to plot the magnitude and phase
of the frequency response at varying frequencies of the excitation force. It
may be noted that the frequency response is plotted in multiple formats,
typically in semi-log or log-log format. Also, it is common to plot velocity
or acceleration response instead of the displacement response shown in
Eq. (1.24).
Impulse response is another commonly used means of calculating the
response of an SDOF system. This can be computed by writing the transfer
function for the system using the EOM in Eq. (1.17). Using the Laplace
transform and zero initial conditions yields the transfer function, H(s), of
this system as
X (s) 1
H (s) = = (1.25)
F (s) (ms + cs + k)
2

In Eq. (1.25), X(s) and F(s) are the Laplace transformations for x(t) and f(t),
respectively. This form is typically called the displacement transfer function.
Eq. (1.25) can be alternately expressed as
X (s) 1/m
H (s) = = 2 (1.26)
F (s) s + 2ξ ωn s + ωn2
All variables in Eq. (1.26) are already defined earlier in this section. For
an impulse input force, F(s) = 1, and the inverse Laplace of the transfer
function in Eq. (1.26) is called the impulse response of the system and is
often useful in experimental characterization. The impulse response for the
transfer function in Eq. (1.26) can be expressed as
 
−1 −1 1/m
h(t ) = L [H (s)] = L (1.27)
s2 + 2ξ ωn s + ωn2
In Eq. (1.27), L−1 is the inverse Laplace transform and h(t) is the impulse
response in time domain. Example 1.3 provides an example of the frequency
response of a damped SDOF system.
Example 1.3: For a damped SDOF system, as shown in Figure 1.3, with a
mass of 1 kg, a stiffness of 10,000 N/m, and a viscous damping constant of
50 N-s/m, plot the magnitude and phase of the frequency response.
16 Modeling and analysis of passive vibration isolation systems

Figure 1.6 Magnitude response.

Using the form expressed in Eq. (1.24), the frequency response for the
given system can be expressed as
X (ω) 1
= (E1.3.1)
F (ω) 10,000 − ω2 + j50ω

It may be noted that the units of the frequency response in eq. (E1.3.1) are
m/N. The magnitude and phase for the frequency response can be expressed
as
 
 X (ω)  1
 
 F (ω)  =  (E1.3.1a)
(10,000 − ω2 )2 + (50ω)2


X (ω) −1 50ω
∠ = −tan (E1.3.1b)
F (ω) 10,000 − ω2

The magnitude and phase response is plotted in Figs. 1.6 and 1.7,
respectively.
 Vibration isolation—background 17

Figure 1.7 Phase response.

1.6 Multiple-degree-of-freedom system

Most systems often consist of multiple DOF with different forms of coupling
between the rigid bodies whose motion is intertwined. This implies that
two or more independent parameters are needed to locate such a rigid
body in space. This section summarizes the general solution for a multi-
DOF (MDOF) system that is often expressed in a matrix form. A brief
introduction to matrix algebra is provided in Appendix B. The EOM
of an undamped MDOF system without any external excitation can be
formulated by combining the individual EOM as follows:
..
M X + KX = 0 (1.28)
In Eq. (1.28), M and K are the n × n mass and stiffness matrices, while
X is n × 1 for an MDOF system with n DOF. For a general solution of
X = X0 eλt , Eq. (1.28) can be written as
(λ2 I + M −1 K )X0 = 0 (1.29)
In Eq. (1.29), I is an identity matrix. A nontrivial solution of the system
in Eq. (1.29) can be obtained by solving for the values of λ, also called
Another random document with
no related content on Scribd:
 Wherever he sojourned, dance and song fled;—the former he
accounted a devoting of limbs which God made to the worship of
Satan; the latter he believed to be a sinful meting out of wanton
words to a heathen measure. Satan, he said, leaped and danced, and
warbled and sung, when he came to woo to perdition the giddy sons
and daughters of men. He dictated the colour and the cut of men’s
clothes—it was seemly for those who sought salvation to seek it in a
sober suit; and the ladies of his parish were obliged to humble their
finery, and sober down their pride, before his sarcastic sermons on
female paintings, and plumings, and perfumings, and the
unloveliness of love-locks. He sought to make a modest and sedate
grace abound among women; courtship was schooled and sermoned
into church controversy, and love into mystical professions; the
common civilities between the sexes were doled out with a suspicious
hand and a jealous charity, and the primrose path through the groves
of dalliance to the sober vale of marriage was planted with thorns
and sown with briars.
He had other endowments not uncommon among the primitive
teachers of the Word. In his day, the empire of the prince of darkness
was more manifest among men than now, and his ministry was
distinguished, like the reign of King Saul, by the persecution of
witches, and elves, and evil spirits. He made himself the terror of all
those who dealt in divinations, or consulted the stars, or sought to
avert witchcraft by sinful spell and charm, instead of overcoming it
by sorrowings and spiritual watchings. The midnight times of
planetary power he held as the prime moments of Satan’s glory on
earth, and he punished Hallowmas revellers as chief priests in the
infernal rites. He consigned to church censure and the chastening of
rods a wrinkled dame who sold a full sea and a fair wind to mariners,
and who insulted the apostles, and made a mystical appeal to the
twelve signs of heaven in setting a brood goose with a dozen eggs.
His wrath, too, was observed to turn against all those who
compounded with witches, and people who carried evil influence in
their eyes—this was giving tribute to the fiend, and bribing the
bottomless pit.
He rebuked the venerable dame, during three successive Sundays,
for placing a cream bowl and new-baked cake in the paths of the
nocturnal elves who, she imagined, had plotted to steal her grandson
from the mother’s bosom. He turned loose many Scripture
threatenings against those diminutive and capricious beings, the
fairies, and sought to preach them from the land. He prayed on every
green hill, and held communings in every green valley. He wandered
forth at night, as a spiritual champion, to give battle to the enemies
of the light. The fairies resigned the contest with a foe equipped from
such an armoury, and came no more among the sons and daughters
of men. The sound of their minstrelsy ceased on the hill; their
equestrian processions were seen no more sweeping past at midnight
beneath the beam of the half-filled moon; and only a solitary and
sullen elf or two remained to lament the loss of their immemorial
haunts. With the spirits of evil men and the lesser angels of darkness
he waged a fierce and dubious war; he evoked an ancient ghost from
a ruined tower, which it had shared for generations with the owl; and
he laid or tranquillized a fierce and troubled spirit which had
haunted the abode of a miser in a neighbouring churchyard, and
seemed to gibber and mumble over his bones. All these places were
purified by prayer, and hallowed by the blessing of the gifted pastor
Ezra Peden.
The place of his ministry seemed fitted by nature, and largely
endowed by history, for the reception and entertainment of all
singular and personified beliefs. Part was maritime, and part
mountainous, uniting the aërial creeds of the shepherds with the
stern and more imposing beliefs of the husbandman, and the wild
and characteristic superstitions of the sailors. It often happened,
when he had marched against and vanquished a sin or a superstition
of native growth, he was summoned to wage war with a new foe; to
contend with a legion of errors, and a strange race of spirits from the
haunted coasts of Norway or Sweden. All around him on every side
were records of the mouldering influence of the enemies of faith and
charity. On the hill where the heathen Odin had appeared to his
worshippers in the circle of granite, the pillars of his Runic temple
promised to be immortal; but the god was gone, and his worship was
extinct. The sword, the spear, and the banner, had found sanctuary
from fields of blood on several lofty promontories; but shattered
towers and dismantled castles told that for a time hatred, oppression,
and revenge had ceased to triumph over religion. Persecution was
now past and gone, a demon exorcised by the sword had hallowed
three wild hills and sanctified two little green valleys with the blood
of martyrs. Their gravestones, bedded among heather or long grass,
cried up to heaven against their oppressors in verses which could not
surely fail to elude the punishment awarded by the Kirk against
poesy. Storms, and quicksands, and unskilful mariners, or, as
common belief said, the evil spirits of the deep, had given to the
dangerous coast the wrecks of three stately vessels; and there they
made their mansions, and raised whirlwinds, and spread quicksands,
and made sandbanks, with a wicked diligence, which neither prayer
nor preaching could abate. The forms under which these restless
spirits performed their pranks have unfortunately been left
undefined by a curious and poetical peasantry.
It happened one winter, during the fifteenth year of the ministry of
Ezra Peden, and in the year of grace 1705, that he sat by his fire
pondering deep among the treasures of the ancient Presbyterian
worthies, and listening occasionally to the chafing of the coming tide
against cliff and bank, and the fitful sweep of heavy gusts of wind
over the roof of his manor. During the day he had seemed more
thoughtful than usual; he had consulted Scripture with an anxious
care, and fortified his own interpretation of the sacred text by the
wisdom of some of the chiefs and masters of the calling. A Bible, too,
bound in black oak, and clasped with silver, from the page of which
sin had received many a rebuke, and the abominations of witchcraft
and sorcery had been cleansed from the land, was brought from its
velvet sanctuary and placed beside him. Thus armed and prepared,
he sat like a watcher of old on the towers of Judah; like one who
girds up his loins and makes bare his right arm for some fierce and
dubious contest.
All this stir and preparation passed not unnoticed of an old man,
his predecessor’s coeval, and prime minister of the household; a
person thin, religious, and faithful, whose gifts in prayer were
reckoned by some old people nearly equal to those of the anointed
pastor. To such a distinction Josiah never thought of aspiring; he
contented himself with swelling the psalm into something like
melody on Sunday; visiting the sick as a forerunner of his master’s
approach, and pouring forth prayers and graces at burials and
banquetings, as long and dreary as a hill sermon. He looked on the
minister as something superior to man; a being possessed by a divine
spirit; and he shook his head with all its silver hairs, and uttered a
gentle groan or two, during some of the more rapt and glowing
passages of Ezra’s sermons.
This faithful personage stood at the door of his master’s chamber,
unwilling to go in, and yet loath to depart. “Josiah, thou art called,
Josiah,” said Ezra, in a grave tone, “so come hither; the soul of an evil
man, a worker of iniquity, is about to depart; one who drank the
blood of saints, and made himself fat with the inheritance of the
righteous. It hath been revealed to me that his body is sorely
troubled; but I say unto you, he will not go from the body without the
strong compulsion of prayer, and therefore am I summoned to war
with the enemy; so I shall arm me to the task.”
Josiah was tardy in speech, and before he could reply, the clatter of
a horse’s hoofs was heard at the gate: the rider leapt down, and,
splashed with mire and sprinkled with sleet, he stood in an instant
before the minister.
“Ah, sir,” said the unceremonious messenger, “haste! snatch up the
looms of redemption, and bide not the muttering of prayer, else auld
Mahoun will have his friend Bonshaw to his cauldron, body and soul,
if he hasna him half-way hame already. Godsake, sir, start and fly,
for he cannot shoot over another hour! He talks of perdition, and
speaks about a broad road and a great fire, and friends who have
travelled the way before him. He’s no his lane, however,—that’s one
comfort; for I left him conversing with an old cronie, whom no one
saw but himself—one whose bones are ripe and rotten; and mickle
they talked of a place called Tophet,—a hot enough region, if one can
credit them; but I aye doubt the accounts of such travellers,—they are
like the spies of the land of promise”——
“Silence thine irreverent tongue, and think of thy latter end with
fear and trembling,” said Ezra, in a stern voice. “Mount thy horse,
and follow me to the evil man, thy master; brief is the time, and black
is the account, and stern and inexorable will the summoning angel
be.”
And leaping on their horses, they passed from the manse, and
sought out the bank of a little busy stream, which, augmented by a
fall of sleet, lifted up a voice amid its rocky and desolate glen equal to
the clamour of a mightier brook. The glen or dell was rough with
sharp and projecting crags, which, hanging forward at times from
opposite sides, seemed to shut out all further way; while from
between their dark-gray masses the rivulet leapt out in many divided
streams. The brook again gathered together its waters, and subsided
into several clear deep pools, on which the moon, escaping for a
moment from the edge of a cloud of snow, threw a cold and wavering
gleam. Along the sweeps of the stream a rough way, shaped more by
nature than by the hand of man, winded among the rocks; and along
this path proceeded Ezra, pondering on the vicissitudes of human
life.
At length he came where the glen expanded, and the sides became
steep and woody; amid a grove of decaying trees, the mansion of
Bonshaw rose, square and gray. Its walls of rough granite were high
and massive; the roof, ascending steep and sharp, carried a covering
of red sandstone flags; around the whole the rivulet poured its scanty
waters in a deep moat, while a low-browed door, guarded by
loopholes, gave it the character of a place of refuge and defence.
Though decayed and war-worn now, it had, in former times, been a
fair and courtly spot. A sylvan nook or arbour, scooped out of the
everlasting rock, was wreathed about with honeysuckle; a little pool,
with a margin studded with the earliest primroses, lay at its
entrance; and a garden, redeemed by the labour of man from the
sterile upland, had its summer roses and its beds of lilies, all bearing
token of some gentle and departed inhabitant.
As he approached the house, a candle glimmered in a small square
window, and threw a line or two of straggling light along the path. At
the foot of the decayed porch he observed the figure of a man
kneeling, and presently he heard a voice chanting what sounded like
a psalm or a lyke-wake hymn. Ezra alighted and approached,—the
form seemed insensible of his presence, but stretched his hands
towards the tower; and while the feathery snow descended on his
gray hair, he poured his song forth in a slow and melancholy
manner.
“I protest,” said the messenger, “here kneels old William Cameron,
the Covenanter. Hearken, he pours out some odd old-world malison
against Bonshaw. I have heard that the laird hunted him long and
sore in his youth, slew his sons, burned his house, threw his two
bonny daughters desolate,—that was nae gentle deed, however,—and
broke the old mother’s heart with downright sorrow. Sae I canna
much blame the dour auld carle for remembering it even now,
though the candles of Bonshaw are burning in the socket, and his
light will soon be extinguished for ever. Let us hearken to his psalm
or his song; it is no every night we have minstrelsy at Bonshaw gate, I
can tell ye that.”
The following are the verses, which have been preserved under the
title of “Ane godly exultation of William Cameron, a chosen vessel,
over Bonshaw, the persecutor.” I have adopted a plainer, but a less
descriptive title—
THE DOWNFALL OF DALZELL.

I.

The wind is cold, the snow falls fast,

The night is dark and late,
As I lift aloud my voice and cry
By the oppressor’s gate.
There is a voice in every hill,
A tongue in every stone;
The greenwood sings a song of joy,
Since thou art dead and gone;
A poet’s voice is in each mouth,
And songs of triumph swell,
Glad songs, that tell the gladsome earth
The downfall of Dalzell.

II.

As I raised up my voice to sing,

I heard the green earth say,
Sweet am I now to beast and bird,
Since thou art passed away:
I hear no more the battle shout,
The martyrs’ dying moans;
My cottages and cities sing
From their foundation-stones;
The carbine and the culverin’s mute,—
The death-shot and the yell
Are turned into a hymn of joy,
For thy downfall, Dalzell

III.

I’ve trod thy banner in the dust,

 And caused the raven call
From thy bride-chamber to the owl
Hatched on thy castle wall;
I’ve made thy minstrels’ music dumb,
And silent now to fame
Art thou, save when the orphan casts
His curses on thy name.
Now thou may’st say to good men’s prayers
A long and last farewell:
There’s hope for every sin save thine,—
Adieu, adieu, Dalzell!

IV.

The grim pit opes for thee her gates,

Where punished spirits wail,
And ghastly Death throws wide his door,
And hails thee with a Hail.
Deep from the grave there comes a voice,
A voice with hollow tones,
Such as a spirit’s tongue would have
That spoke through hollow bones:—
“Arise, ye martyred men, and shout
From earth to howling hell;
He comes, the persecutor comes!
All hail to thee, Dalzell!”

V.

O’er an old battle-field there rushed

A wind, and with a moan
The severed limbs all rustling rose,
Even fellow bone to bone.
“Lo! there he goes,” I heard them cry,
“Like babe in swathing band,
Who shook the temples of the Lord,
And passed them ’neath his brand.
Cursed be the spot where he was born,
There let the adders dwell,
And from his father’s hearthstone hiss:
All hail to thee, Dalzell!”

VI.

I saw thee growing like a tree,—

Thy green head touched the sky,—
But birds far from thy branches built,
The wild deer passed thee by;
No golden dew dropt on thy bough,
Glad summer scorned to grace
Thee with her flowers, nor shepherds wooed
Beside thy dwelling-place;
The axe has come and hewed thee down,
Nor left one shoot to tell
Where all thy stately glory grew:
Adieu, adieu, Dalzell!

VII.

An ancient man stands by thy gate,

His head like thine is gray;
Gray with the woes of many years,
Years fourscore and a day.
Five brave and stately sons were his;
Two daughters, sweet and rare;
An old dame, dearer than them all,
And lands both broad and fair;—
Two broke their hearts when two were slain,
And three in battle fell,—
An old man’s curse shall cling to thee,—
Adieu, adieu, Dalzell!

VIII.

And yet I sigh to think of thee,

A warrior tried and true
As ever spurred a steed, when thick
The splintering lances flew.
I saw thee in thy stirrups stand,
And hew thy foes down fast,
When Grierson fled, and Maxwell failed,
And Gordon stood aghast;
And Graeme, saved by thy sword, raged fierce
As one redeemed from hell.
I came to curse thee,—and I weep:
So go in peace, Dalzell!

When this wild and unusual hymn concluded, the Cameronian

arose and departed, and Ezra and his conductor entered the chamber
of the dying man.
 He found him stretched on a couch of state, more like a warrior cut
in marble than a breathing being. He had still a stern and martial
look, and his tall and stalwart frame retained something of that
ancient exterior beauty for which his youth was renowned. His
helmet, spoiled by time of its plumage, was placed on his head; a
rusty corslet was on his bosom; in his arms, like a bride, lay his broad
and famous sword; and as he looked at it, the battles of his youth
passed in array before him. Armour and arms hung grouped along
the walls, and banners, covered with many a quaint and devotional
device, waved in their places as the domestic closed the door on Ezra
and the dying warrior in the chamber of presence.
The devout man stood and regarded his ancient parishioner with a
meek and sorrowful look; but nothing visible or present employed
Bonshaw’s reflections or moved his spirit—his thoughts had
wandered back to earlier years, and to scenes of peril and blood. He
imagined himself at the head of his horsemen in the hottest period of
the persecution, chasing the people from rock to rock, and from glen
to cavern. His imagination had presented to his eye the destruction
of the children of William Cameron. He addressed their mother in a
tone of ironical supplication,—
“Woman, where is thy devout husband, and thy five holy sons? Are
they busied in interminable prayers or everlasting sermons? Whisper
it in my ear, woman,—thou hast made that reservation doubtless in
thy promise of concealment. Come, else I will wrench the truth out of
thee with these gentle catechists, the thumbscrew and the bootikin.
Serving the Lord, sayest thou, woman? Why, that is rebelling against
the king. Come, come, a better answer, else I shall make thee a bride
for a saint on a bloody bed of heather!
Here he paused and waved his hand like a warrior at the head of
armed men, and thus he continued,—
“Come, uncock thy carbine, and harm not the woman till she hear
the good tidings. Sister saint, how many bairns have ye? I bless God,
saith she, five—Reuben, Simon, Levi, Praisegod, and Patrick. A
bonny generation, woman. Here, soldier, remove the bandages from
the faces of those two young men before ye shoot them. There stands
Patrick, and that other is Simon;—dost thou see the youngest of thy
affections? The other three are in Sarah’s bosom—thyself shall go to
Abraham’s. The woman looks as if she doubted me;—here, toss to her
those three heads—often have they lain in her lap, and mickle have
they prayed in their time. Out, thou simpleton! canst thou not
endure the sight of the heads of thine own fair-haired sons, the smell
of powder, and the flash of a couple of carbines?”
The re-acting of that ancient tragedy seemed to exhaust for a little
while the old persecutor. He next imagined himself receiving the
secret instructions of the Council.
“What, what, my lord, must all this pleasant work fall to me? A
reeking house and a crowing cock shall be scarce things in Nithsdale.
Weepings and wailings shall be rife—the grief of mothers, and the
moaning of fatherless babes. There shall be smoking ruins and
roofless kirks, and prayers uttered in secret, and sermons preached
at a venture and a hazard on the high and solitary places. Where is
General Turner?—Gone where the wine is good?—And where is
Grierson?—Has he begun to talk of repentance?—Gordon thinks of
the unquenchable fire which the martyred Cameronian raved about;
and gentle Graeme vows he will cut no more throats unless they wear
laced cravats. Awell, my lords; I am the king’s servant, and not
Christ’s, and shall boune me to the task.”
His fancy flew over a large extent of time, and what he uttered now
may be supposed to be addressed to some invisible monitor; he
seemed not aware of the presence of the minister.
“Auld, say you, and gray-headed, and the one foot in the grave; it is
time to repent, and spice and perfume over my rottenness, and
prepare for heaven? I’ll tell ye, but ye must not speak on’t—I tried to
pray late yestreen—I knelt down, and I held up my hands to heaven—
and what think ye I beheld? a widow woman and her five fair sons
standing between me and the Most High, and calling out, ‘Woe, woe,
on Bonshaw.’ I threw myself with my face to the earth, and what got I
between my hands? A gravestone which covered five martyrs, and
cried out against me for blood which I had wantonly shed. I heard
voices from the dust whispering around me; and the angel which
watched of old over the glory of my house hid his face with his hands,
and I beheld the evil spirits arise with power to punish me for a
season. I’ll tell ye what I will do—among the children of those I have
slain shall my inheritance be divided; so sit down, holy sir, and sit
down, most learned man, and hearken to my bequest. To the
children of three men slain on Irongray Moor—to the children of two
slain on Closeburn-hill—to—no, no, no, all that crowd, that
multitude, cannot be the descendants of those whom I doomed to
perish by the rope, and the pistol, and the sword. Away, I say, ye
congregation of zealots and psalm-singers!—disperse, I say, else I
shall trample ye down beneath my horse’s hoofs! Peace, thou
whiteheaded stirrer of sedition, else I shall cleave thee to the collar!—
wilt thou preach still?”
Here the departing persecutor uttered a wild imprecation,
clenched his teeth, leaped to his feet, waved his sword, and stood for
several moments, his eyes flashing from them a fierce light, and his
whole strength gathered into a blow which he aimed at his imaginary
adversary. But he stiffened as he stood—a brief shudder passed over
his frame, and he was dead before he fell on the floor, and made the
hall re-echo.
The minister raised him in his arms—a smile of military joy still
dilated his stern face—and his hand grasped the sword hilt so firmly
that it required some strength to wrench it from his hold. Sore, sore
the good pastor lamented that he had no death-bed communings
with the departed chief, and he expressed this so frequently, that the
peasantry said, on the day of his burial, that it would bring back his
spirit to earth and vex mankind, and that Ezra would find him
particularly untractable and bold. Of these whisperings he took little
heed, but he became somewhat more grave and austere than usual.
 Chapter II.

It happened on an evening about the close of the following spring,

when the oat braird was flourishing, and the barley shot its sharp
green spikes above the clod, carrying the dew on the third morning,
that Ezra Peden was returning from a wedding at Buckletiller. When
he left the bridal chamber it was about ten o’clock. His presence had
suppressed for a time the natural ardour for dancing and mirth
which characterises the Scotch; but no sooner was he mounted, and
the dilatory and departing clatter of his horse’s hoofs heard, than
musicians and musical instruments appeared from their hiding-
places. The floor was disencumbered of the bridal dinner-tables, the
maids bound up their long hair, and the hinds threw aside their
mantles, and, taking their places and their partners, the restrained
mirth broke out like a whirlwind. Old men looked on with a sigh, and
uttered a feeble and faint remonstrance, which they were not
unwilling should be drowned in the abounding and augmenting
merriment.
The pastor had reached the entrance of a little wild and seldom
frequented glen, along which a grassy and scarce visible road winded
to an ancient burial-ground. Here the graceless and ungodly
merriment first reached his ears, and made the woody hollow ring
and resound. Horse and rider seemed possessed of the same spirit—
the former made a full halt when he heard the fiddle note, while the
latter, uttering a very audible groan, and laying the bridle on his
horse’s neck, pondered on the wisest and most effectual way of
repressing this unseemly merriment—of cleansing the parish of this
ancient abomination. It was a beautiful night; the unrisen moon had
yet a full hour of travel before she could reach the tops of the eastern
hills; the wind was mute, and no sound was abroad save the chafing
of a small runnel, and the bridal mirth.
While Ezra sat casting in his own mind a long and a dubious
contest with this growing and unseemly sin, something like the
shadowy outline of a horse and rider appeared in the path. The night
was neither light nor dark, and the way, grassy and soft, lay broad
and uninterrupted between two hazel and holly groves. As the pastor
lifted up his eyes, he beheld a dark rider reining up a dark horse side
by side with his own, nor did he seem to want any accoutrement
necessary for ruling a fine and intractable steed. As he gazed, the
figure became more distinct; it seemed a tall martial form, with a
slouched hat and feather, and a dark and ample mantle, which was
muffled up to his eyes. From the waist downward all was indistinct,
and horse and rider seemed to melt into one dark mass visible in the
outline alone. Ezra was too troubled in spirit to court the intrusion of
a stranger upon his meditations; he bent on him a look particularly
forbidding and stern, and having made up his mind to permit the
demon of mirth and minstrelsy to triumph for the present, rode
slowly down the glen.
But side by side with Ezra, and step by step, even as shadow
follows substance, moved the mute and intrusive stranger. The
minister looked at his companion, and stirred his steed onward; with
corresponding speed moved the other, till they came where the road
branched off to a ruined castle. Up this way, with the wish to avoid
his new friend, Ezra turned his horse; the other did the same. The
former seemed suddenly to change his mind, and returned to the
path that led to the old burial-ground; the latter was instantly at his
side, his face still hidden in the folds of his mantle.
Now, Ezra was stern and unaccommodating in kirk controversy,
and the meek and gentle spirit of religion, and a sense of spiritual
interest, had enough to do to appease and sober down a temper
naturally bold, and even warlike. Exasperated at this intruding
stranger, his natural triumphed over his acquired spirit, and lifting
his riding-stick, and starting up in his stirrups, he aimed a blow
equal to the unhorsing of any ordinary mortal. But the weapon met
with no obstruction—it seemed to descend through air alone. The
minister gazed with dread on this invulnerable being; the stranger
gazed on him; and both made a halt like men preparing for mortal
fray. Ezra, who felt his horse shuddering beneath him, began to
suspect that his companion pertained to a more dubious state of
existence than his own, and his grim look and sable exterior induced
him to rank him at once among those infamous and evil spirits which
are sometimes permitted to trouble the earth, and to be a torment to
the worthy and the devout.
 He muttered a brief and pithy prayer, and then said,—
“Evil shape, who art thou, and wherefore comest thou unto me? If
thou comest for good, speak; if for my confusion and my harm, even
do thine errand; I shall not fly from thee.”
“I come more for mine own good than for thy harm,” responded
the figure. “Far have I ridden, and much have I endured, that I might
visit thee and this land again.”
“Do you suffer in the flesh, or are you tortured in the spirit?” said
the pastor, desirous to know something certain of his unwelcome
companion.
“In both,” replied the form. “I have dwelt in the vale of fire, in the
den of punishment, hollow, and vast, and dreadful; I have ridden
through the region of snow and the land of hail; I have swam through
the liquid wilderness of burning lava,—passed an illimitable sea, and
all for the love of one hour of this fair green earth, with its fresh airs
and its new-sprung corn.”
Ezra looked on the figure with a steady and a penetrating eye. The
stranger endured the scrutiny.
“I must know of a truth to whom and what I speak—I must see you
face to face. Thou mayest be the grand artificer of deceit come to
practise upon my immortal soul. Unmantle thee, I pray, that I may
behold if thou art a poor and an afflicted spirit punished for a time,
or that fierce and restless fiend who bears the visible stamp of eternal
reprobation.”
“I may not withstand thy wish,” muttered the form in a tone of
melancholy, and dropping his mantle, and turning round on the
pastor, said, “Hast thou forgotten me?”
“How can I forget thee?” said Ezra, receding as he spoke. “The
stern and haughty look of Bonshaw has been humbled indeed.
Unhappy one, thou art sorely changed since I beheld thee on earth
with the helmet-plume fanning thy hot and bloody brow as thy right
hand smote down the blessed ones of the earth! The Almighty doom
—the evil and the tormenting place—the vile companions—have each
in their turn done the work of retribution upon thee; thou art indeed
more stern and more terrible, but thou art not changed beyond the
knowledge of one whom thou hast hunted and hounded, and sought
to slay utterly.”
 The shape or spirit of Bonshaw, dilated with anger, and in a
quicker and fiercer tone, said—
“Be charitable; flesh and blood, be charitable. Doom not to hell-
fire and grim companions one whose sins thou canst not weigh but in
the balance of thine own prejudices. I tell thee, man of God, the
uncharitableness of the sect to which thou pertainest has thronged
the land of punishment as much as those who headed, and hanged,
and stabbed, and shot, and tortured. I may be punished for a time,
and not wholly reprobate.”
“Punished in part, or doomed in whole, thou needs must be,”
answered the pastor, who seemed now as much at his ease as if this
singular colloquy had happened with a neighbouring divine. “A holy
and a blessed spirit would have appeared in a brighter shape. I like
not thy dubious words, thou half-punished and half-pardoned spirit.
Away, vanish! shall I speak the sacred words which make the fiends
howl, or wilt thou depart in peace?”
“In peace I come to thee,” said the spirit, “and in peace let me be
gone. Hadst thou come sooner when I summoned thee, and not
loitered away the precious death-bed moments, hearkening the wild
and fanciful song of one whom I have deeply wronged, this journey
might have been spared—a journey of pain to me, and peril to
thyself.”
“Peril to me!” said the pastor; “be it even as thou sayest. Shall I fly
for one cast down, over whose prostrate form the purging fire has
passed? Wicked was thy course on earth—many and full of evil were
thy days—and now thou art loose again, thou fierce and persecuting
spirit,—a woe, and a woe to poor Scotland!”
“They are loose who never were bound,” answered the spirit of
Bonshaw, darkening in anger, and expanding in form, “and that I
could soon show thee. But, behold, I am not permitted;—there is a
watcher—a holy one come nigh prepared to resist and to smite. I
shall do thee no harm, holy man—I vow by the pains of punishment
and the conscience-pang—now the watcher has departed.”
“Of whom speakest thou?” inquired Ezra. “Have we ministering
spirits who guard the good from the plots of the wicked ones? Have
we evil spirits who tempt and torment men, and teach the maidens
ensnaring songs, and lighten their feet and their heads for the
wanton dance?”
“Stay, I pray thee,” said the spirit; “there are spirits of evil men and
of good men made perfect, who are permitted to visit the earth, and
power is given them for a time to work their will with men. I beheld
one of the latter even now, a bold one and a noble; but he sees I
mean not to harm thee, so we shall not war together.”
At this assurance of protection, the pastor inclined his shuddering
steed closer to his companion, and thus he proceeded:—
“You have said that my sect—my meek and lowly, and broken, and
long persecuted remnant—have helped to people the profound hell;
am I to credit thy words?”
“Credit them or not as thou wilt,” said the spirit; “whoso spilleth
blood by the sword, by the word, and by the pen, is there: the false
witness; the misinterpreter of the Gospel; the profane poet; the
profane and presumptuous preacher; the slayer and the slain; the
persecutor and the persecuted; he who died at the stake, and he who
piled the faggot;—all are there, enduring hard weird and penal fire
for a time reckoned and days numbered. They are there whom thou
wottest not of,” said the confiding spirit, drawing near as he spoke,
and whispering the names of some of the worthies of the Kirk, and
the noble, and the far-descended.
“I well believe thee,” said the pastor; “but I beseech thee to be
more particular in thy information: give me the names which some
of the chief ministers of woe in the nether world were known by in
this. I shall hear of those who built cathedrals and strongholds, and
filled thrones spiritual and temporal.”
“Ay, that thou wilt,” said the spirit, “and the names of some of the
mantled professors of God’s humble Presbyterian Kirk also; those
who preached a burning fire and a devouring hell to their dissenting
brethren, and who called out with a loud voice, ‘Perdition to the sons
and daughters of men; draw the sword; slay and smite utterly.’”
“Thou art a false spirit assuredly,” said the pastor; “yet tell me one
thing. Thy steed and thou seem to be as one, to move as one, and I
observed thee even now conversing with thy brute part; dost thou
ride on a punished spirit, and is there injustice in hell as well as on
earth?”
 The spirit laughed.
“Knowest thou not this patient and obedient spirit on whom I
ride?—what wouldst thou say if I named a name renowned at the
holy altar? the name of one who loosed the sword on the bodies of
men, because they believed in a humble Saviour, and he believed in a
lofty. I have bestrode that mitred personage before now; he is the
hack to all the Presbyterians in the pit, but he cannot be spared on a
journey so distant as this.”
“So thou wilt not tell me the name of thy steed?” said Ezra; “well,
even as thou wilt.”
“Nay,” said the spirit, “I shall not deny so good a man so small a
matter. Knowest thou not George Johnstone, the captain of my
troop,—as bold a hand as ever bore a sword and used it among
fanatics? We lived together in life, and in death we are not divided.”
“In persecution and in punishment, thou mightest have said, thou
scoffing spirit,” said the pastor. “But tell me, do men lord it in
perdition as they did on earth; is there no retributive justice among
the condemned spirits?”
“I have condescended on that already,” said the spirit, “and I will
tell thee further: there is thy old acquaintance and mine, George
Gordon; punished and condemned though he be, he is the scourge,
and the whip, and the rod of fire to all those brave and valiant men
who served those equitable and charitable princes, Charles Stewart,
and James, his brother.”
“I suspect why those honourable cavaliers are tasting the cup of
punishment,” said the pastor; “but what crime has sedate and holy
George done that his lot is cast with the wicked?”
“Canst thou not guess it, holy Ezra?” answered the spirit. “His
crime was so contemptible and mean that I scorn to name it. Hast
thou any further questions?”
“You spoke of Charles Stuart, and James, his brother,” said the
pastor; “when sawest thou the princes for whom thou didst deluge
thy country with blood, and didst peril thine own soul?”
“Ah! thou cunning querist,” said the spirit, with a laugh; “canst
thou not ask a plain question? Thou askest questions plain and
pointed enough of the backsliding damsels of thy congregation—why
shouldst thou put thy sanctified tricks on me, a plain and
straightforward spirit, as ever uttered response to the godly?
Nevertheless, I will tell thee; I saw them not an hour ago—Charles
saddled me my steed; wot ye who held my stirrup?—even James, his
brother. I asked them if they had any message to the devout people
of their ancient kingdom of Scotland. The former laughed, and bade
me bring him the kirk repentance-stool for a throne. The latter
looked grave, and muttered over his fingers like a priest counting his
beads; and hell echoed far and wide with laughter at the two
princes.”
“Ay, ay!” said the pastor; “so I find you have mirth among you:
have you dance and song also?”
“Ay, truly,” answered the spirit; “we have hymns and hallelujahs
from the lips of that holy and patriotic band who banished their
native princes, and sold their country to an alien; and the alien
himself rules and reigns among them; and when they are weary with
the work of praise, certain inferior and officious spirits moisten their
lips with cupfuls of a curious and cooling liquid, and then hymn and
thanksgiving recommence again.”
“Ah, thou dissembler,” said the minister; “and yet I see little cause
why they should be redeemed, when so many lofty minds must
wallow with the sinful for a season. But, tell me; it is long since I
heard of Claud Hamilton,—have you seen him among you? He was
the friend and follower of the alien—a mocker of the mighty minds of
his native land—a scoffer of that gifted and immortal spirit which
pours the glory of Scotland to the uttermost ends of the earth—tell
me of him, I pray.”
Loud laughed the spirit, and replied in scorn—
“We take no note of things so mean and unworthy as he; he may be
in some hole in perdition, for aught I know or care. But, stay; I will
answer thee truly. He has not passed to our kingdom yet; he is
condemned to the punishment of a long and useless life on earth;
and even now you will find him gnawing his flesh in agony to hear
the name he has sought to cast down renowned over all the earth.”
The spirit now seemed impatient to be gone; they had emerged
from the glen; and vale and lea, brightened by the moon, and sown
thick with evening dew, sparkled far and wide.
 “If thou wouldst question me farther,” said the frank and
communicative spirit of Bonshaw, “and learn more of the dead, meet
me in the old burial-ground an hour before moon-rise on Sunday
night: tarry at home if thou wilt; but I have more to tell thee than
thou knowest to ask about; and hair of thy head shall not be
harmed.”
Even as he spoke the shape of horse and rider underwent a sudden
transformation—the spirit sank into the shape of a steed, the steed
rose into the form of the rider, and wrapping his visionary mantle
about him, and speaking to his unearthly horse, away he started,
casting as he flew a sudden and fiery glance on the astonished pastor,
who muttered, as he concluded a brief prayer,—
“There goes Captain George Johnstone, riding on his fierce old
master!”
 Chapter III.

The old burial-ground, the spirit’s trysting-place, was a fair but a

lonely spot. All around lay scenes renowned in tradition for blood,
and broil, and secret violence. The parish was formerly a land of
warrior’s towers, and of houses for penance, and vigil, and
mortification. But the Reformation came, and sacked and crushed
down the houses of devotion; while the peace between the two
kingdoms curbed the courage, and extinguished for ever the military
and predatory glory of those old Galwegian chieftains. It was in a
burial-ground pertaining to one of those ancient churches, and
where the peasants still loved to have their dust laid, that Ezra
trusted to meet again the shadowy representative of the fierce old
Laird of Bonshaw.
The moon, he computed, had a full hour to travel before her beams
would be shed on the place of conference, and to that eerie and
deserted spot Ezra was observed to walk like one consecrating an
evening hour to solitary musing on the rivulet side. No house stood
within half a mile; and when he reached the little knoll on which the
chapel formerly stood, he sat down on the summit to ponder over the
way to manage this singular conference. A firm spirit, and a pure
heart, he hoped, would confound and keep at bay the enemy of man’s
salvation; and he summed up, in a short historical way, the names of
those who had met and triumphed over the machinations of fiends.
Thus strengthened and reassured, he rose and looked around, but he
saw no approaching shape. The road along which he expected the
steed and rider to come was empty; and he walked towards the
broken gate, to cast himself in the way, and show with what
confidence he abode his coming.
Over the wall of the churchyard, repaired with broken and carved
stones from the tombs and altar of the chapel, he now looked, and it
was with surprise that he saw a new made widow kneeling over her
husband’s grave, and about to pour out her spirit in lamentation and
sorrow. He knew her form and face, and the deepest sorrow came
upon him. She was the daughter of an old and a faithful elder: she