ME3112 – Mechanics of Machines

Part II
FORCED HARMONIC VIBRATION
Learning Outcomes
 Understand the different types of 1DOF forced harmonic vibration systems due to
different source of excitations.
 Derive the equation of motion of 1DOF forced vibration system, and hence solve
for its steady state frequency response.
 Understand and apply the concepts of transmissibility in forced harmonic
analyses.

2
Forced Vibration
 A mechanical system is said to undergo forced
vibration whenever external energy is supplied to
the system during vibration, which can be due to:
• applied force,
• imposed displacement excitation, or
• unbalance rotating masses.

 External excitation can be periodic or random in

nature.
• For periodic type of loading, we are interested in
the steady-state solution
• For random excitation, the transient solution is
important.

3
Forced Harmonic Vibration
 An important type of periodic loading is the simple harmonic excitation, i.e.
𝑃 = 𝑃𝑜 𝑐𝑜𝑠 𝛺𝑡 𝑜𝑟 𝑃𝑜 𝑠𝑖𝑛 𝛺𝑡
which is a sinusoidal function with forced angular frequency 𝛺.

 One main objective of studying forced harmonic vibration is to understand the

response of the system to different forcing frequency, which is called the
frequency response function (FRF).
 From the FRF, one can identify the range of excitation frequencies at which the
system response would be amplified or attenuated. This is essential for passive
vibration control.
 In a lightly damped system, its response would be very large if the excitation
frequency coincides with the natural frequency of the system. This condition is
called the resonance.

4
Equation of Motion – External force

The EOM of the vibrating mass is

𝐹0 𝑠𝑖𝑛 Ω𝑡 − 𝑐 𝑥ሶ − 𝑘𝑥 = 𝑚𝑥ሷ
𝑐 𝑘 𝐹0
⇒ 𝑥ሷ + 𝑥ሶ + 𝑥 = 𝑠𝑖𝑛 Ω𝑡
𝑚 𝑚 𝑚
2
𝐹0
⇒ 𝑥ሷ + 2𝜔𝑛 𝑥ሶ + 𝜔𝑛 𝑥 = 𝑠𝑖𝑛 Ω𝑡
𝑚

5
 Equation of Motion – Base excitation

where 𝑦 = 𝑌0 𝑠𝑖𝑛 Ω𝑡

The EOM of the vibrating mass is

−𝑐 𝑥ሶ − 𝑦ሶ − 𝑘 𝑥 − 𝑦 = 𝑚𝑥ሷ
𝑐 𝑘 𝑘 𝑐
⇒ 𝑥ሷ + 𝑥ሶ + 𝑥 = 𝑦 + 𝑦ሶ
𝑚 𝑚 𝑚 𝑚
⇒ 𝑥ሷ + 2𝜔𝑛 𝑥ሶ + 𝜔𝑛 2 𝑥 = 𝜔𝑛 2 𝑌0 𝑠𝑖𝑛 Ω𝑡 + 2𝜔𝑛 Ω𝑌0 𝑐𝑜𝑠 Ω𝑡
෨
= 𝑌𝑠𝑖𝑛(Ω𝑡 ෨
+ 𝜙)
2Ω
where 𝑌෨ = 𝑌0 𝜔𝑛 2Ω 2 + 𝜔𝑛 2 , and 𝜙෨ = 𝑡𝑎𝑛−1 𝜔𝑛

6
 Equation of Motion – Base excitation…

where 𝑦 = 𝑌0 𝑠𝑖𝑛 Ω𝑡

The EOM of the vibrating mass is

−𝑐 𝑥ሶ − 𝑦ሶ − 𝑘 𝑥 − 𝑦 = 𝑚𝑥ሷ − 𝑚𝑦ሷ + 𝑚𝑦ሷ = 𝑚 𝑥ሷ − 𝑦ሷ + 𝑚𝑦ሷ
𝑚 𝑥ሷ − 𝑦ሷ + 𝑐 𝑥ሶ − 𝑦ሶ + 𝑘 𝑥 − 𝑦 = −𝑚𝑦ሷ
Let 𝑧 = 𝑥 − 𝑦 , i.e. the relative displacement of the mass w.r.t. the moving base,
we have
𝑐 𝑘
𝑧ሷ + 𝑧ሶ + 𝑧 = −𝑦ሷ
𝑚 𝑚
⇒ 𝑧ሷ + 2𝜔𝑛 𝑧ሶ + 𝜔𝑛 2 𝑧 = 𝑌𝑜 Ω2 𝑠𝑖𝑛(Ω𝑡)

7
Equation of Motion - Summary
 The generic form of EOM of the forced harmonic vibration is
𝑥ሷ + 2𝜔𝑛 𝑥ሶ + 𝜔𝑛 2 𝑥 = 𝑓 Ω𝑡
where 𝑓 Ω𝑡 is a sinusoidal function with different amplitude expressions
depending on the types of excitation, as summarized below,

8
 Forced Harmonics Motion
 The general solution to the above differential equation comprises two parts,
namely:
• Homogeneous solution – it is the solution to the free damped vibration equation, i.e.
𝑥ሷ + 2𝜔𝑛 𝑥ሶ + 𝜔𝑛 2 𝑥 = 0

• For damped system, this part of the

solution is

𝐶1 𝑒 𝜆1 𝑡 + 𝐶2 𝑒 𝜆2 𝑡
𝑥ℎ = 𝐶1 + 𝐶2 𝑡 𝑒 −𝜔𝑛𝑡
𝑒 −𝜔𝑛𝑡 𝐶1 𝑠𝑖𝑛 𝜔𝑑 𝑡 + 𝐶2 𝑐𝑜𝑠 𝜔𝑑 𝑡

 In practical situations, this part will die off due to the presence of damping.
Hence, this is usually not important in force harmonic vibration analyses.

9
Forced Harmonics Motion…
• Non-homogeneous or particular solution – it corresponds to the steady-state motion of
the system. The vibration occurs at the same frequency as the forcing function, i.e.
𝑥𝑠𝑠 = 𝑋𝑠𝑖𝑛 Ω𝑡 + 𝜙
where 𝑋 is the amplitude of the vibration at steady-state, and 𝜙 is the phase difference
between the motion of the mass and the excitation source (which arises due to the
damping effect).
𝑥ℎ

𝑥𝑠𝑠

Waveform becomes
identical after the
𝑥ℎ + 𝑥𝑠𝑠 damped free
vibration dies off.

10
 Undamped Forced Harmonic Vibration
 First, let us consider the undamped system. The generic EOM is reduced to
𝑥ሷ + 𝜔𝑛 2 𝑥 = 𝑃𝑜 𝑠𝑖𝑛 Ω𝑡 + 𝜙𝑜
where 𝑃𝑜 can represent different types of excitation sources, and 𝑥 can be
displacement of the mass or relative displacement w.r.t. base excitation. (Refer to
slide 8).
 Consider the steady state solution only, which has to take the same sinusoidal
form as the forcing function, i.e.
𝑥𝑠𝑠 = 𝑋𝑠𝑖𝑛 Ω𝑡 + 𝜙𝑜
⇒ 𝑥ሷ 𝑠𝑠 = −Ω2 𝑋𝑠𝑖𝑛 Ω𝑡 + 𝜙𝑜

11
 Undamped Forced Harmonic Vibration…
 Substituting the steady state solution into the EOM, gives
−Ω2 𝑋𝑠𝑖𝑛 𝑡 + 𝜙𝑜 + 𝜔𝑛 2 𝑋𝑠𝑖𝑛 Ω𝑡 + 𝜙𝑜 = 𝑃𝑜 𝑠𝑖𝑛 Ω𝑡 + 𝜙𝑜
⇒ 𝑋 𝜔𝑛 2 − Ω2 𝑠𝑖𝑛 𝑡 + 𝜙𝑜 = 𝑃𝑜 𝑠𝑖𝑛 Ω𝑡 + 𝜙𝑜
𝑃𝑜
⇒𝑋= 2
𝜔𝑛 − Ω2
 We can rewrite this expression in dimensionless form, as
𝑃𝑜 Τ𝜔𝑛 2
𝑋= 2
1 − ΩΤ𝜔𝑛
𝑋 1
⇒ 2
=
Τ
𝑃𝑜 𝜔𝑛 1 − 𝑟2
Ω
where 𝑟 = is the ratio of the forcing frequency to the natural frequency of the
𝜔𝑛
system.

12
 Undamped Forced Harmonic Vibration…
 Note that 𝑃𝑜 Τ𝜔𝑛 2 is a displacement quantity, since the expression on R.H.S is
𝐹
dimensionless. For the force excitation, where 𝑃𝑜 = 𝑜, this quantity is
𝑚

𝐹𝑜 Τ𝑚 𝐹𝑜
𝑃𝑜 Τ𝜔𝑛 2 = =
𝑘Τ𝑚 𝑘
which corresponds to the static displacement of the mass if a force of magnitude
𝑋
𝐹𝑜 applied on the system. Hence, Τ 2 can be seen as a comparison of the
𝑃𝑜 𝜔𝑛
dynamic effect to the static condition.

𝑋
 The amplitude of this ratio, i.e. , is called the amplification factor (A.F.). It
𝑃𝑜 Τ𝜔𝑛 2
represents the amount of amplification or attenuation the system will experience
if it is subjected to certain excitation source at certain frequency.

13
 Undamped Forced Harmonic Vibration…

• When 0 < 𝑟 < 1. The amplification

Resonance at 𝑟 = 1,
𝑎𝑛𝑑 𝐴. 𝐹. = ∞
factor is positive, and it increases with
Amplification factor

𝑟, and approaches asymptotically to

the line 𝑟 = 1.
𝑟 = 2,
𝐴. 𝐹. 𝑟𝑒𝑑𝑢𝑐𝑒𝑠 𝑏𝑒𝑦𝑜𝑛𝑑 𝑡ℎ𝑖𝑠 𝑣𝑎𝑙𝑢𝑒
• When 𝑟 > 1. The amplification factor
is only greater than unity if 𝑟 < 2.
Beyond this value, it decreases
asymptotically from the line 𝑟 = 1 with
frequency ratio, 𝒓
increasing 𝑟.

• When 𝑟 = 1, the amplification factor is , and this

corresponds to resonance.
In this case, the external loading is providing energy to the
system in the exact timing at Ω = 𝜔𝑛 , which adds to the
kinetic energy of the system cumulatively, and hence this
leads to the growing amplitude in the response motion.

14
 Example 1
A 8-kg block A slides in a vertical frictionless slot and is connected to a moving
support B by means of a spring AB of constant k = 1.6 kN/m. Knowing that the
displacement of the support is 𝛿 = 𝛿𝑚 𝑠𝑖𝑛 Ω𝑡 , where 𝛿𝑚 = 150 mm, determine the
range of values of Ω for which the amplitude of the fluctuating force exerted by the
spring on the block is less than 120 N.

𝛿 = 𝛿𝑚 𝑠𝑖𝑛Ω𝑡

15
 Example 1…
First, one should observe that the spring force is given by
𝐹 = 𝑘 𝑥 − 𝛿 = 𝑘𝑧
which depends on the relative displacement 𝑧 of the mass and the moving support.
Note that this is a base excitation case, and the EOM is given by
𝑧ሷ + 𝜔𝑛 2 𝑧 = 𝛿𝑚 Ω2 𝑠𝑖𝑛 Ω𝑡 (c.f. slide 7)

Let the steady-state response be, 𝑧 = 𝑍𝑠𝑖𝑛 Ω𝑡 . Substitute this into the above
equation gives
−𝑍Ω2 𝑠𝑖𝑛 Ω𝑡 + 𝜔𝑛 2 𝑍𝑠𝑖𝑛 Ω𝑡 = 𝛿𝑚 Ω2 𝑠𝑖𝑛 Ω𝑡
𝛿𝑚 Ω2 𝑟2
⇒𝑍= = 𝛿
𝜔𝑛 2 − Ω2 1 − 𝑟2 𝑚
Ω
where 𝑟 = .
𝜔𝑛

16
 Example 1…
Hence, the spring force is
𝑟2
𝐹 = 𝑘𝑧 = 𝑘𝑍𝑠𝑖𝑛 Ω𝑡 = 𝑘𝛿𝑚 𝑠𝑖𝑛 Ω𝑡
1 − 𝑟2
And the amplitude of the force is
𝑟2
𝐹 = 𝑘𝛿𝑚
1 − 𝑟2
Now, imposing the force limits, gives
𝑟2
2
1600 0.15 < 120
1−𝑟
𝑟2
⇒ < 0.5
1 − 𝑟2

17
 Example 1…
Now, evaluating the inequality equation gives
𝑟2
i) If is positive,
1−𝑟 2

𝑟2 1
< 0.5 ⇒ 𝑟 <
1 − 𝑟2 3

1 1600
⇒Ω< = 𝟖. 𝟏𝟔 𝒓𝒂𝒅/𝒔
3 8
1
𝑟2 3
ii) If is negative,
1−𝑟 2

𝑟2
> −0.5
1 − 𝑟2
⇒ 𝑟 2 > −1 (𝑖𝑛𝑎𝑑𝑚𝑖𝑠𝑠𝑖𝑏𝑙𝑒)

18
Damped Forced Harmonic Vibration
 Now, consider the damped system under harmonic excitation.

2𝑥
𝐹𝑜 𝐹0 𝑠𝑖𝑛 Ω𝑡
𝑥ሷ + 2𝜔𝑛 𝑥ሶ + 𝜔𝑛 = 𝑠𝑖𝑛 Ω𝑡
𝑚

 In this case, the homogenous and particular solutions are

𝑥ℎ = 𝐶𝑒 −𝜁𝜔𝑛 𝑡 𝑠𝑖𝑛 𝜔𝑑 𝑡 + 𝜙ℎ
𝑥𝑠𝑠 = 𝑋𝑠𝑖𝑛 Ω𝑡 + 𝜙𝑠𝑠

 For the steady state solution, 𝑥𝑠𝑠 , we are going to determine the expression for
the amplitude, 𝑋.
𝜙𝑠𝑠 is the phase between the response motion and excitation loading. Due to damping, 𝜙𝑠𝑠 is
generally non zero, and it varies with excitation frequency.

19
Damped Forced Harmonic Vibration…
 First, substitute 𝑥𝑠𝑠 into the EOM gives
−Ω2 𝑋𝑠𝑖𝑛 Ω𝑡 + 𝜙𝑠𝑠 + 2𝜔𝑛 Ω𝑋𝑐𝑜𝑠 Ω𝑡 + 𝜙𝑠𝑠 + 𝜔𝑛 2 𝑋𝑠𝑖𝑛 Ω𝑡 + 𝜙𝑠𝑠
𝐹𝑜
= 𝑠𝑖𝑛 Ω𝑡
𝑚

 Now, let Ω𝑡 + 𝜙𝑠𝑠 = 0 ⇒ Ω𝑡 = −𝜙𝑠𝑠 . Under this condition, the above EOM
becomes
𝐹𝑜
2𝜔𝑛 Ω𝑋 = − 𝑠𝑖𝑛 𝜙𝑠𝑠
𝑚

 Next, let Ω𝑡 + 𝜙𝑠𝑠 = 𝜋Τ2 ⇒ Ω𝑡 = 𝜋Τ2 − 𝜙𝑠𝑠 . With this, the EOM becomes
𝐹𝑜 𝐹𝑜
−Ω2 𝑋 + 𝜔𝑛 2𝑋 = 𝑠𝑖𝑛 𝜋Τ2 − 𝜙𝑠𝑠 = 𝑐𝑜𝑠 𝜙𝑠𝑠
𝑚 𝑚

20
Damped Forced Harmonic Vibration…
 Summing the squares of the two equations, gives
2
𝐹𝑜
−Ω2 𝑋 + 𝜔𝑛 2 𝑋 2 + 2𝜔𝑛 Ω𝑋 2 = 𝑠𝑖𝑛2 𝜙𝑠𝑠 + 𝑐𝑜𝑠 2 𝜙𝑠𝑠
𝑚
2 2 2 2
Ω Ω 𝐹𝑜
⇒ 𝜔𝑛 4 𝑋 2 1− + 2 =
𝜔𝑛 𝜔𝑛 𝑚

𝐹𝑜 1
𝑚 𝜔𝑛 2
⇒𝑋=
2 2 2
Ω Ω
1− + 2
𝜔𝑛 𝜔𝑛

21
Damped Forced Harmonic Vibration…
 Further evaluating the numerator expression, i.e.
𝐹𝑜 1 𝐹𝑜 1 𝐹𝑜
= = = 𝛿𝑜
𝑚 𝜔𝑛 2 𝑚 𝑘Τ𝑚 𝑘
where 𝛿𝑜 is the static displacement of the system when the static force 𝐹𝑜 is applied.

 With the above expression, the displacement amplification factor can be defined
as follows,
𝛿𝑜
𝑋=
2
Ω 2 Ω 2
1− + 2
𝜔𝑛 𝜔𝑛

𝑋 1
⇒ =
𝛿𝑜 1 − 𝑟2 2 + 2𝑟 2

where 𝑟 = ΩΤ𝜔𝑛

22
 Damped Forced Harmonic Vibration…
• Damping reduces A.F. significantly, especially
near resonance at 𝑟 ≈ 1.
• A.F. → 0 asymptotically as 𝑟 → .
• For  > 1Τ 2 , the A.F. decreases

Amplification factor
monotonically with increasing 𝑟.
• For 𝑟 < 1Τ 2, maximum A.F. occurs at

𝑟= 1 − 22 u
and the corresponding amplitude is
1
𝐴. 𝐹. =
2 1 − 2 frequency ratio, 𝒓

u Taking 𝑑(𝐴.𝐹.)
the derivative of A.F. w.r.t. r, i.e. = 0, and then solving the equation gives 𝑟 = 1 − 22 .
𝑑𝑟

23
 Damped Forced Harmonic Vibration…

 The spring and damper induce a resultant force on

the wall, which is given by
𝐹𝑤𝑎𝑙𝑙 = 𝑘𝑥 + 𝑐 𝑥ሶ

 This is a dynamic force, and it is essential to evaluate this quantity so that one can
ensure that the mounting wall is designed to withstand such load.

 Now, using 𝑥 = 𝑋𝑠𝑖𝑛 Ω𝑡 + 𝜙𝑠𝑠 , the constraining force at the wall is

𝐹𝑤𝑎𝑙𝑙 = 𝑘𝑋𝑠𝑖𝑛 Ω𝑡 + 𝜙𝑠𝑠 + 𝑐Ω𝑋𝑐𝑜𝑠 Ω𝑡 + 𝜙𝑠𝑠

= 𝑘 2 + 𝑐Ω 2 𝑋𝑠𝑖𝑛 Ω𝑡 + 𝜙𝑠𝑠 + 𝜙
where
𝑐Ω
𝜙 = 𝑡𝑎𝑛−1 is the phase different between the displacement and the force.
𝑘

24
Damped Forced Harmonic Vibration…
 The magnitude of this force is
𝐹𝑜 /𝑘 𝑘 2 + 𝑐Ω 2
𝐹𝑤𝑎𝑙𝑙 = 𝑘 2 + 𝑐Ω 2 𝑋=
1 − 𝑟2 2 + 2𝑟 2

𝑐 2
𝐹𝑤𝑎𝑙𝑙 1+ Ω Force transmissibility
⇒ = 𝑘
factor
𝐹𝑜 1 − 𝑟 2 2 + 2𝑟 2

where
𝑐 𝑐 𝑚 1 Ω
Ω= Ω = 2𝜔𝑛 Ω = 2 = 2𝑟
𝑘 𝑚 𝑘 𝜔𝑛 2 𝜔𝑛

 Hence, the force transmissibility factor becomes

𝐹𝑤𝑎𝑙𝑙 1 + 2𝑟 2
=
𝐹𝑜 1 − 𝑟 2 2 + 2𝑟 2

25
Damped Forced Harmonic Vibration…

• At 𝑟 ≥ 2, the force transmissibility is

less than or equal to unity for all
damping ratio.

Force transmissibility
• For 𝑟 < 2, smaller damping ratio lead
to larger values of transmissibility.
But for 𝑟 > 2, smaller damping ratio
lead to smaller values of transmissibility.

frequency ratio, 𝒓

• Again differentiating the transmissibility relation w.r.t. to 𝑟, and then equating it to zero,
we can derive the frequency ratio 𝑟 that give maximum transmissibility for different
damping ratio,
1 2
1/2
𝑟= 1 + 8 − 1
2

26
Damped System under Base Excitation
 Consider a spring-mass-damper system that is subjected to base excitation as
shown below.
𝑦 𝑡 = 𝑌0 𝑠𝑖𝑛 Ω𝑡

 The EOM is given by

෨
𝑥ሷ + 2𝜔𝑛 𝑥ሶ + 𝜔𝑛 2 𝑥 = 𝑌𝑠𝑖𝑛(Ω𝑡 ෨
+ 𝜙)
where
2Ω
𝑌෨ = 𝑌0 𝜔𝑛 2Ω 2 + 𝜔𝑛 2 , and 𝜙෨ = 𝑡𝑎𝑛−1
𝜔𝑛

27
Damped System under Base Excitation…
 Comparing this EOM with the case with external harmonic force, one can see
𝐹
that the difference is only on the R.H.S, i.e. instead of 𝑜 𝑠𝑖𝑛 Ω𝑡 , it is given here
𝑚
෨
by 𝑌𝑠𝑖𝑛 Ω𝑡 + 𝜙෨ .
 Due to the similar form, one can derived the steady-state response by replacing
𝐹𝑜
෨ i.e.
with 𝑌,
𝑚

𝑥𝑠𝑠 = 𝑋𝑠𝑖𝑛 Ω𝑡 + 𝜙෨ + 𝜙𝑠𝑠

where the amplitude is given by

𝑌෨ Τ𝜔𝑛 2
𝑋=
2 2 2
Ω Ω
1− + 2
𝜔𝑛 𝜔𝑛

28
Damped System under Base Excitation…
 Now, substitute 𝑌෨ = 𝑌0 𝜔𝑛 2Ω 2 + 𝜔𝑛 2 into the expression gives

𝑌0 Τ𝜔𝑛 2Ω 2 + 𝜔𝑛 2
𝑋=
1 − ΩΤ𝜔𝑛 2 2 + 2 ΩΤ𝜔𝑛 2

𝑋 1 + 2𝑟 2
⇒ =
𝑌0 1 − 𝑟 2 2 + 2𝑟 2

(𝐷𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡 𝑡𝑟𝑎𝑛𝑠𝑚𝑖𝑠𝑠𝑖𝑏𝑖𝑙𝑖𝑡𝑦)

 Displacement transmissibility, is the ratio of the amplitude of the response of a

system to the base excitation. It is a measure of the displacement sensitivity of a
given system to base vibration.
 Notice that this expression is identical to the force transmissibility for the force
excitation case. Hence, the interpretation of the plot is similar (refer to slide 25).

29
Damped System under Base Excitation…
 Another way of studying the displacement transmissibility is to look at the relative
motion of the mass x to the base excitation y, i.e. 𝑧 = 𝑥 − 𝑦.
 In this case, the EOM used is
𝑧ሷ + 2𝜔𝑛 𝑧ሶ + 𝜔𝑛 2 𝑧 = 𝑌𝑜 Ω2 𝑠𝑖𝑛(Ω𝑡)
 Again, by comparing this with the force harmonic case, we get

𝑌𝑜 Ω2 Τ𝜔𝑛 2
𝑧 = 𝑍𝑠𝑖𝑛 Ω𝑡 + 𝜙𝑠𝑠 = 𝑠𝑖𝑛 Ω𝑡 + 𝜙𝑠𝑠
1 − ΩΤ𝜔𝑛 2 2 + 2 ΩΤ𝜔𝑛 2

𝑌𝑜 𝑟 2 𝑍 𝑟2
⇒𝑍= ⇒ =
1 − 𝑟2 2 + 2𝑟 2 𝑌𝑜 1 − 𝑟2 2 + 2𝑟 2

 This is an alternate form of displacement transmissibility for the based-excitation

in terms of its relative motion.

30
 Damped System under Base Excitation…

• Like the former cases, damping has significant

effect on the amplitudes near resonance. Hence,
it should be added deliberately to limit the
relative motion.
• At high value of r, this ratio approach unity, and
the effect of damping is negligible in this range.
1
• For  > , the transmissibility grows
2
monotonously from 0 to 1.
frequency ratio, 𝒓

1 1
• For  < , the maximum transmissibility occurs at 𝑟 = , and the corresponding
2
1−2 2

1
amplitude is .
2 1− 2

31
Damped System under Base Excitation…
 In addition to displacement, there is also a force that is transmitted to the base.
This is again due to the reactions from the spring and dashpot attached to it, i.e.

𝐹𝑏𝑎𝑠𝑒 = 𝑘 𝑥 − 𝑦 + 𝑐 𝑥ሶ − 𝑦ሶ
And from the FBD of the mass,
𝑘 𝑥 − 𝑦 + 𝑐 𝑥ሶ − 𝑦ሶ = −𝑚𝑥ሷ ⇒ 𝐹𝑏𝑎𝑠𝑒 = −𝑚𝑥ሷ

 For steady-state response, 𝑥𝑠𝑠 = 𝑋𝑠𝑖𝑛 Ω𝑡 + 𝜙෨ + 𝜙𝑠𝑠 , then

𝑥ሷ 𝑠𝑠 = −Ω2 𝑋𝑠𝑖𝑛 Ω𝑡 + 𝜙෨ + 𝜙𝑠𝑠

 Hence, the force transmitted is

𝐹𝑏𝑎𝑠𝑒 = (𝑚Ω2 𝑋) 𝑠𝑖𝑛 Ω𝑡 + 𝜙෨ + 𝜙𝑠𝑠

32
 Damped System under Base Excitation…
 Again, we normalize the amplitude of 𝐹𝑏𝑎𝑠𝑒 w.r.t. 𝑘𝑌𝑜 (a static force), we have
𝐹𝐵𝑎𝑠𝑒 𝑚Ω2 𝑋 𝑚Ω2 𝑋
= =
𝑘𝑌𝑜 𝑘𝑌𝑜 𝑘 𝑌𝑜

𝐹𝐵𝑎𝑠𝑒 1 + 2𝑟 2
⇒ = 𝑟2
𝑘𝑌𝑜 1 − 𝑟 2 2 + 2𝑟 2

 For the based excitation scenario, the force transmissibility is given by the above
expression. It is the ratio of the dynamics force induced by the moving mass to
the static spring force that is displaced by the base vibration amplitude. It
quantifies the amplification of the dynamic force applied on the base due to the
vibrating mass.
 Note that the second term in square root is the displacement transmissibility
𝑋 𝐹𝐵𝑎𝑠𝑒 𝑋
ratio . Hence, the force transmissibility is essentially = 𝑟2 .
𝑌𝑜 𝑘𝑌𝑜 𝑌𝑜

33
Damped System under Base Excitation…

• Again, damping has significant effect on the

force amplitude near the resonance. Hence,
damping should be introduced purposefully to
avoid dangerous level of force transmission.
• At 𝑟 = 2, the force transmissibility is 2 for all
damping ratio.
• Unlike the displacement transmissibility, which
either diminish to zero or stabilize to unity as 𝑟
increases, force transmissibility tends to
increase with increasing 𝑟.
• This is especially significant when damping ratio
frequency ratio, 𝒓  > 0.35, which increases monotonously.

34
Example 2
A heavy machine, weighing 3000 N, is supported on a resilient foundation. The static
deflection of the foundation due to the weight of the machine is found to be 7.5 cm.
It is observed that the machine vibrates with an amplitude of 1 cm when the base of
the foundation is subjected to harmonic oscillation at the undamped natural
frequency of the system with an amplitude of 0.25 cm. Find
(a) the damping constant of the foundation,
(b) the dynamic force amplitude on the base, and
(c) the amplitude of the displacement of the machine relative to the base.
(d) Suppose if it is desirable to keep the absolute vibration of the machine to be less
than 0.1 cm, under the base vibration condition of 𝑦 = 0.25𝑠𝑖𝑛 2𝜔𝑛 𝑡 , comment
whether the foundation used currently can achieve this specification. If not, what
should be the damping coefficient be, while keeping the stiffness the same?

35
Example 2…

x(𝑡) = 0.01𝑠𝑖𝑛(𝜔𝑛 𝑡 + )

𝑦(𝑡) = 0.0025𝑠𝑖𝑛(𝜔𝑛 𝑡)

36
Example 2…
(a) First, the stiffness of the foundation can be found from its static deflection
𝑊 3000
𝑘= = = 40 𝑘𝑁/𝑚
𝛿𝑠𝑡 0.075
Ω
When operating at its natural frequency, i.e. 𝑟 = = 1, the displacement
𝜔𝑛
transmissibility gives
1Τ2
𝑋 0.01 1 + (2)2
= =4= ⇒  = 0.1291
𝑌 0.0025 (2)2
The damping constant is then given by

𝑐 = 𝑐𝑐𝑟 =  2 𝑘𝑚

3000
= 0.1291 2 40000 × = 𝟗𝟎𝟑 𝑁𝑠/𝑚
9.81

37
 Example 2…
(b) The dynamic force amplitude on the base at 𝑟 = 1 is
𝐹𝑇 𝑋
= 𝑟2
𝑘𝑌 𝑌
𝑋
⇒ 𝐹𝑇 = 𝑘𝑌 = 𝑘𝑋 = 40000 × 0.01 = 𝟒𝟎𝟎 𝑁
𝑌

(c) The amplitude of the relative displacement at 𝑟 = 1 is

𝑍 𝑟2
=
𝑌 1 − 𝑟2 2 + 2𝑟 2

𝑌 0.0025
⇒𝑍= = = 𝟎. 𝟎𝟎𝟗𝟔𝟖 𝑚
2 2(0.1291)

Note that 𝑧(𝑡) = 𝑥(𝑡) − 𝑦(𝑡), but 𝑍 ≠ 𝑋 − 𝑌.

This is due to the phase differences between the three variables.

38
Example 2…
(d) Under this operating condition, where r = 2, and  = 0.1291, the displacement
transmissibility relation gives
1
𝑋 1 + 2𝑟 2 2
=
𝑌 1 − 𝑟 2 2 + 2𝑟 2

1
1 + 2 (0.1291)(2) 2 2
= = 𝟎. 𝟑𝟕𝟎
1 − (0.1291)2 2 + 2 (0.1291)(2) 2

This is less than the specified ratio of

𝑋 0.1
= = 0.4
𝑌 0.25
Hence, the foundation used here can meet the displacement specification.

39
 Example 3
A simple model of a motor vehicle that can vibrate in the vertical direction while
traveling over a rough road, which varies sinusoidally with an amplitude of 𝑌 =
0.05 𝑚 and a wavelength of 6 m. The vehicle has a mass of 1200 kg. The suspension
system has a spring constant of 400 kN/m, and a damping ratio of  = 0.5.
(a) If the vehicle speed is 20 km/h, determine the displacement amplitude of the
vehicle.
(b) In order for the vehicle to oscillate at less than 4 mm, what is the minimum speed
it should be travelling?

𝑦 𝑡 = 𝑌𝑠𝑖𝑛Ω𝑡

40
 Example 3…
(a) The frequency of the base excitation is due to the modulation of the road
roughness. It is given by
𝑣 = 𝑓𝜆
𝑣 20000 1
⇒𝑓= = = 0.9259 𝐻𝑧
𝜆 3600 6
⇒ Ω = 2𝜋𝑓 = 5.818 𝑟𝑎𝑑/𝑠
The natural frequency of the vehicle is

𝑘 400 × 103
𝜔𝑛 = = = 18.257 𝑟𝑎𝑑/𝑠
𝑚 1200

And hence the frequency ratio is

Ω
𝑟= = 0.3187
𝜔𝑛

41
 Example 3…
Using displacement transmissibility relation for base excitation case, gives
1
𝑋 1 + 2𝑟 2 2
=
𝑌0 1 − 𝑟 2 2 + 2𝑟 2

1
2 2
1 + 2 0.5 0.3187
⇒ 𝑋 = 0.05 2
1 − 0.3187 2 2 + 2 0.5 0.3187

= 𝟎. 𝟎𝟓𝟓𝟎𝟓 𝒎

42
 Example 3…
(b) In this case, the displacement amplification factor is given by
𝑋 0.04
< = 0.80
𝑌0 0.05

1 + 2𝑟 2
⇒ < 0.8
1 − 𝑟 2 2 + 2𝑟 2
Displacement transmissibility

0.80

frequency ratio, 𝒓

43
 Example 3…
Here, we solve for the frequency ratio that satisfy the condition, i.e.
1
1 + 2𝑟 2 2
= 0.80
1 − 𝑟 2 2 + 2𝑟 2

2
⇒ 1 + 2(0.5)𝑟 = (0.80)2 1 − 𝑟 2 2
+ 2(0.5)𝑟 2

⇒ 𝑟 4 − 2.5625𝑟 2 − 0.5625 = 0
⇒ 𝑟 2 = 2.766, or 𝑟 2 = −0.2034 (inadmissible)

𝑟 = 𝟏. 𝟔𝟔𝟑, or 𝑟 = −1.663 (inadmissible)

44
 Example 3…
Based on this ratio, the base excitation frequency would be
Ω
= 1.663
𝜔𝑛
⇒ Ω = 1.663 18.257 = 30.362 𝑟𝑎𝑑/𝑠

This translate to the vehicle speed of

𝑣
Ω = 2𝜋𝑓 = 2𝜋
𝜆
Ω 30.362
⇒𝑣= 𝜆= 6
2𝜋 2𝜋
𝑣 = 𝟐𝟖. 𝟗𝟗 𝒎/𝒔

45
Question 1 (AY16/17 – Question 4)
A machine of mass 100 kg is supported by two identical springs and a damper, as
shown in Figure 4. It was noted that the springs were compressed by 1.0 cm when
the mass was loaded onto them under static equilibrium condition. The damping
constant of the damper is given by 1000 Ns/m. Use g = 9.81 𝑚/𝑠 2 in your
calculations.
(a) Based on the information given, calculate the following parameters for this
system.
(i) Spring constant of the spring, k
(ii) Undamped natural frequency, 𝑓𝑛
(iii) Damped natural frequency, 𝑓𝑑
(iv) Critical damping, 𝑐𝑐𝑟 .

46
Question 1 (AY16/17 – Question 4)…
When the machine is in operation, the imbalance in the machine induced a vertical
sinusoidal force F of amplitude 100 N at 4 Hz. Determine:
(b) The amplitude of the steady-state vibration of the machine.
(c) The maximum reaction forces induced on the base hinges that are attached to the
spring and damper, respectively.

Answers:
(a) 𝑘 = 49.05 𝑘𝑁/𝑚; 𝑓𝑛 = 4.985 𝐻𝑧; 𝑓𝑑 = 4.921 𝐻𝑧; 𝑐𝑐𝑟 = 6264 𝑁𝑠/𝑚
(b) 𝑋 = 2.324 × 10−3 𝑚
(c) 𝐹𝑠 = 114 𝑁; 𝐹𝑠 = 58.41 𝑁

47
Question 2 (AY17-18 – Question 4)
A simplified hammering mechanism is shown in Figure 4, which comprises a hammer
assembly that is pivoted at point O, with a linear spring at A and a viscous damper at
B. The hammer assembly is made up of a slender rigid rod of length L and mass 𝑚,
𝐿
and a circular disk of radius and mass 𝑚 that is welded to the rod at one end.
12
Lastly, this system is driven by a sinusoidal varying moment 𝑀 = 𝑀𝑜 𝑠𝑖𝑛 𝛺𝑡 at O.

48
Question 2 (AY17-18 – Question 4)…
(a) Using the parallel axis theorem, show that the mass moment of inertia of the
hammer assembly about the pivot point O is given by 𝐼𝑂 = 0.84375 𝑚𝐿2 .
(b) Sketch the free body diagram of the system with all the forces included, and
derive its equation of motion for small angular displacement 𝜃 about the pivot
point O.
(c) Suppose it is required that the damping ratio  for this system to be equal to
0.2. Determine the damping coefficient c (expressed in terms of 𝑚, L and k) that
is needed for this condition to be satisfied.
(d) For this damping ratio  = 0.2, determine the operating frequency 𝛺 (again
expressed in terms of 𝑚, L and k) that gives rise to optimal performance, i.e. at
maximum amplification factor.
Answers:
16
(b) 13.5𝑚𝜃ሷ + 𝑐 𝜃ሶ + 𝑘𝜃 = 2 𝑀𝑜 𝑠𝑖𝑛 𝛺𝑡
𝐿
(c) 𝑐 = 1.470 𝑚𝑘
(d) Ω = 0.2611 𝑘Τ𝑚

49