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Nikolas Krisma Hadi Fernandez

2019360010 / 23570770

Sampoerna University / University of Arizona

Mechanical Vibration (AME460)

Homework 6
3.57 From the answer, the response equation is:
𝑚𝜔2 𝑌
𝑥(𝑡) = cos(𝜔𝑡) + 𝑦(𝑡)
𝑘 − 𝑚𝜔 2
Where, 𝑦(𝑡) = 𝑥𝑔 (𝑡) and 𝑌 = 𝑋𝑔
Then, to find 𝑦(𝑡)
𝑋𝑔
𝑦̇ (𝑡) = ∫ 𝑥𝑔̈ (𝑡)𝑑𝑡 = ∫ 𝑋𝑔 cos(𝜔𝑡) 𝑑𝑡 = sin(𝜔𝑡) + 𝑐1
𝜔
𝑋𝑔 𝑋𝑔
𝑦(𝑡) = ∫ 𝑦̇ (𝑡) 𝑑𝑡 = ∫ ( sin(𝜔𝑡) + 𝑐1 ) 𝑑𝑡 = − 2 cos(𝜔𝑡) + 𝑐1 𝑡 + 𝑐2
𝜔 𝜔
With zero ICs, 𝑦(0) = 0, 𝑦̇ (0) = 0. Therefore,
𝑋𝑔 𝑋𝑔
𝑦(0) = − 2 + 𝑐2 = 0 → 𝑐2 =
𝜔 𝜔2
𝑦̇ (0) = 0 + 𝑐1 = 0 → 𝑐1 = 0
Then,
𝑋𝑔 𝑋𝑔
𝑦(𝑡) = − 2 cos(𝜔𝑡) + 2
𝜔 𝜔
Therefore, the response equation become:
𝑚𝜔2 𝑌 𝑋𝑔 𝑋𝑔
𝑥(𝑡) = 2
cos(𝜔𝑡) − 2 cos(𝜔𝑡) + 2
𝑘 − 𝑚𝜔 𝜔 𝜔
MATLAB Codes:
w = 200;
Xg = 15E-3;
m = 2000;
k = 0.5E6;

x = @(t) ((m*Xg*w^2)/(k - m*w^2))*cos(w*t) + (-Xg/w^2)*cos(w*t) +

Xg/w^2;

t = 0:0.1:10;

plot(t, x(t));
title('Problem 3.57');
ylabel('x(t)');
xlabel('t');

Result:
3.61 The response equation is for free vibration is:
𝜃ℎ (𝑡) = 0.01565 sin(10𝑡)
Since it is undamped (no damper), the steady state response include the form of
𝜔
− (Θ ) sin(𝜔𝑛 𝑡) = −0.008 sin (20.7𝑡).
𝜔𝑛
Therefore, the total response is:
𝜃(𝑡) = 0.01565 sin(10𝑡) − 0.008 sin(20.7𝑡)
MATLAB codes:
w = 10;
k = 1000;
m = 10;

theta_f = @(t) 0.01565*sin(w*t) + 0.008*sin(20.7*t);

t = 0:0.01:20;

plot(t, theta_f(t));
title('Problem 3.61');
ylabel('x(t)');
xlabel('t');

Result:
3.64 On this problem, it is impossible to graph the response of the system since the amplitude of
the rough road that influence system response is unknown.

3.93 All properties are known and written on the main answer sheet.
The equivalent equation of motion of the viscous damping for the system is:
𝑚𝑥̈ + 𝑐𝑒𝑞 𝑥̇ + 𝑘𝑥 = 𝐹0 sin(𝜔𝑡) (1)
Using equation 3.88, the equivalent damping constant, 𝑐, is:
4𝜇𝑁 4(0.098)(2)(9.81) 𝑁𝑠
𝑐𝑒𝑞 = = = 2.064
𝜋𝜔𝑋 𝜋(2.5173268 × 2𝜋)(75 × 10−3 ) 𝑚
Using equation 2.65 and 2.66,
𝑐𝑒𝑞 𝑐𝑒𝑞 2.064
𝜁= = = = 0.0159
𝑐𝑐 𝑘 2100
√
2𝑚 𝑚 2(2) ( √
2 )
Since 1 > 𝜁 > 0, then the system is undamped. The steady state solution of the system is
stated on Equation 2.72a, which is as follow.
𝑥̇ 0 + 𝜁𝜔𝑛 𝑥0
𝑥ℎ (𝑡) = 𝑒 −𝜁𝜔𝑛 𝑡 {𝑥0 cos (√1 − 𝜁 2 𝜔𝑛 𝑡) + sin (√1 − 𝜁 2 𝜔𝑛 𝑡)}
√1 − 𝜁 2 𝜔𝑛
For the particular solution, we assume that the solution is in the form of the following.
𝑥𝑝 (𝑡) = 𝑋 cos (𝜔𝑡 + 𝜙)
𝑐𝑒𝑞 𝜔
Where, 𝑋 is known and 𝜙 = tan−1 (𝑘−𝑚𝜔 2 ).

Therefore, for the total solution:

𝑥(𝑡) = 𝑥ℎ (𝑡) + 𝑥𝑝 (𝑡)
With 0 ICs, 𝑥0 = 0, and 𝑥̇ 0 = 0.
F0 = 120;
w = 2.5173268;
Xo = 75E-3;
m = 2; k = 2100;

x0 = 0; x0d = 0;

g = 9.81;
u = 0.098;

wn = sqrt(k/m);
N = m*g;
 ceq = (4*u*N)/(pi*w*Xo); z = ceq/(2*m*wn);

x = @(t) exp(-z*wn.*t).*(x0*cos(sqrt(1-z^2)*wn.*t) + ((x0d +

z*wn*x0)/(sqrt(1-z^2)*wn))*sin(sqrt(1-z^2)*wn.*t)) + Xo*cos(w.*t +
atan(ceq*w/(k-m*w^2)));

t = 0:0.1:10;

plot(t, x(t));
title('Problem 3.93');
ylabel('x(t)');
xlabel('t');

Result:

3.94 All properties are known and have written on the main answer sheet.
The equivalent equation of motion for viscous damping of the system:
𝑚𝑥̈ + 𝑐𝑒𝑞 𝑥̇ + 𝑘𝑥 = 𝐹0 sin(𝜔𝑡)
Where from Eq. (2.157)
𝛽𝑘
𝑐𝑒𝑞 =
𝜔
And equivalent damping ratio from Eq. (2.156)
𝛽 0.1
𝜁𝑒𝑞 = = = 0.05
2 2
To find mass, use known load,
𝑤 = 𝑚𝑔
𝑤 5000 𝑁
𝑚= = = 509.684 𝑘𝑔
𝑔 9.81 𝑚
𝑠 2
Then, we can find the natural frequency of the system by:
𝑘 105
𝜔𝑛 = √ = √ = 14.007
𝑚 509.684

At resonance, 𝜔 = 𝜔𝑛 = 14.007 𝑟𝑎𝑑/𝑠.

For the free vibration solution of the system, we can use equation (2.72a) for underdamped
system:
 𝑥̇ 0 + 𝜁𝜔𝑛 𝑥0
𝑥ℎ (𝑡) = 𝑒 −𝜁𝜔𝑛 𝑡 {𝑥0 cos (√1 − 𝜁 2 𝜔𝑛 𝑡) + sin (√1 − 𝜁 2 𝜔𝑛 𝑡)}
√1 − 𝜁 2 𝜔𝑛
And for the particular solution, we can assume that it has the following form (Eq. (3.100)):
𝑥𝑝 (𝑡) = 𝑋𝑠𝑖𝑛(𝜔𝑡 − 𝜙)
𝜔 𝜋
Where, 𝑋 is known, and 𝜙 is using Figure 3.25 when (𝜔 ) = 1 and 𝛽 = 0.1, which is 2 .
1
Simulation for 0 ICs.
F = 5000;
do = 0.05; F0 = 1000; X = 0.1;
g = 9.81;

k = F/do; b = F0/(k*X);
m = F/g;

wn = sqrt(k/m); w = wn;
ceq = b*k/w;

%z = ceq/(2*m*wn);
z = b/2;

x0 = 0; x0d = 0;

x = @(t) exp(-z*wn.*t).*(x0*cos(sqrt(1-z^2)*wn.*t) + ((x0d +

z*wn*x0)/(sqrt(1-z^2)*wn))*sin(sqrt(1-z^2)*wn.*t)) + X*sin(w.*t +
pi/2);
t = 0:0.01:10;
plot(t, x(t));
title('Problem 3.94');
ylabel('x(t)');
xlabel('t');

Result: