MEEM 3700

Mechanical Vibrations
Mohan D. Rao
Chuck Van Karsen
Mechanical Engineering-Engineering Mechanics
Michigan Technological University
Copyright 2003

MEEM 3700

Lecture 9- Forced Vibration with

Damping

Single Degree of Freedom Forced Vibration

Free Body Diagram
F(t)

F(t)

x
m

cx&

kx
mg

m&&
x + cx& + kx = F (t )
MEEM 3700

Lecture 9- Forced Vibration with

Damping

m&&
x + Cx& + kx = Fo cos(t)

F(t)

x(t) = x trans (t) + x ss (t)

1
0.8

0.6

If <1,

0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-1
0

0.5

1.5

2.5

3.5

x trans (t ) = ent ( A cos(d t ) + B sin(d t ) )

MEEM 3700

Lecture 9- Forced Vibration with

Damping

Steady State Solution

x ss (t ) = X cos( t )
x& ss (t ) = X sin( t )
&&
x ss (t ) = 2 X cos( t )

m2 Xcos(t ) CXsin(t )
+ KXcos(t ) = Fo cos(t)
cos(t ) = cos(t ) cos( ) + sin(t ) sin( )
sin(t ) = sin(t ) cos( ) cos(t ) sin( )

(K m 2 )X cos( ) + CX sin( ) = Fo

(1)

( C )X cos( ) + (K m )X sin( ) = 0

(2)

MEEM 3700

Lecture 9- Forced Vibration with

Damping

 (K m 2 )X cos( ) + CX sin( ) = Fo

(1)

( C )X cos( ) + (K m )X sin( ) = 0

(2)

Solve (1) and (2) simultaneously,

X=

Fo
[(k m 2 ) 2 + (C ) 2 ]0.5

C
= tan 1

2
K m
x(t ) = e nt ( A cos( d t ) + B sin( d t ) ) + X cos( t )
MEEM 3700

Lecture 9- Forced Vibration with

Damping

1
0.8
0.6
0.4
0.2
0
-0.2
-0.4
-0.6
-0.8

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.9

1.5

0.5

-0.5

-1

MEEM 3700

0.9

Lecture 9- Forced Vibration with

Damping

 X =

Fo
( k m ) + ( C ) 2
2 2

0.5

C
= tan 1
2
k m

Recall : n =

k
m

c
2 km

MEEM 3700

Lecture 9- Forced Vibration with

Damping

Xk
1
=
Fo
2 2
2
1 + 2

n n

ta n =

n

1

n
MEEM 3700

Lecture 9- Forced Vibration with

Damping

Magnification Factor vs. Frequency Ratio

Magnification Factor (XK/Fo)

.05

1
XK
=
2
2 2
Fo

1 + 2
n n

.15

.2

.3
.4
.5
.6
.8
1.0
5.0

Frequency Ratio (/n)

MEEM 3700

Lecture 9- Forced Vibration with

Damping

Phase Angle vs. Frequency Ratio

.05

Phase Angle ()

.15

.2 .3
.4 .5 .6
1.0

.8

5.0

ta n =

2 n

/2

n 2

2
1 1
nn

tan =

Frequency Ratio (/n)

MEEM 3700

10

Lecture 9- Forced Vibration with

Damping