Prob.

1
A 45 kg machine is placed at the end of a 1.6 m cantilever beam of elastic modulus of

200 ×109 N / m 2 and cross sectional moment of inertia 1.6 × 10−5 m 4 . As it operates, the machine
produces a harmonic force of magnitude 125 N . At what operating speeds will the machine’s
steady state amplitude be less than 0.2 mm ?
Solution.
The stiffness of the beam is

3EI 3 ( 200 × 10 N / m )(1.6 × 10 m )

9 2 −5 4

k eq = 3 =
(1.6 m )
3
L
N
= 2.34 ×106
m
Natural frequency of system is
N
k eq 2.34 × 106
ωn = = m = 228.22 rad
m 45 kg s

Given:
F0 = 125 N
X = 0.2 mm

X 0.2 × 10−3 m
Magnification is = = 3.74 (Maximum)
( F0 / k eq ) (125 N / 2.34 ×106 N / m )
Xk 1
From the expression = , for undamped system ( ζ = 0 ) ,
F0 ⎡ ⎛ ω ⎞2 ⎤ ⎡ ⎛ ω
2 2
⎞⎤
⎢1 − ⎜ ⎟ ⎥ + ⎢ 2ζ ⎜ ⎟⎥
⎢⎣ ⎝ ωn ⎠ ⎥⎦ ⎣ ⎝ ωn ⎠⎦

equation becomes
X k eq 1
Magnification = = 2
F0 ⎛ ω⎞
1− ⎜ ⎟
⎝ ωn ⎠

1
 ⎡ω⎤ 1
For ⎢ ⎥ < 1 , requiring Magnification < 3.74 leads to < 3.74 .
⎣ ωn ⎦
2
⎛ ω⎞
1− ⎜ ⎟
⎝ ωn ⎠
2 2
1 1 ⎛ ω⎞ ⎛ ω⎞ 1
Or < 3.74 Or < 1− ⎜ ⎟ Or ⎜ ⎟ < 1 −
⎝ ωn ⎠ ⎝ ωn ⎠
2
⎛ ω⎞ 3.74 3.74
1− ⎜ ⎟
⎝ ωn ⎠

ω 1 ω
Or < 1− Or < 0.856
ωn 3.74 ωn

⎡ω⎤ 1
Again, for ⎢ ⎥ > 1 , requiring Magnification < 3.74 leads to < 3.74 .
⎣ ωn ⎦
2
⎛ ω⎞
1− ⎜ ⎟
⎝ ωn ⎠
2 2
1 1 ⎛ ω⎞ 1 ⎛ ω⎞
Or < 3.74 Or < ⎜ ⎟ −1 Or 1 + < ⎜ ⎟
⎝ ωn ⎠ 3.74 ⎝ ωn ⎠
2
⎛ ω⎞ 3.74
⎜ ⎟ −1
⎝ ωn ⎠

ω 1 ω
Or > 1+ Or > 1.126
ωn 3.74 ωn
So allowable ranges of frequencies are
rad
ω < 0.856 ωn = 195.2 and
s
rad
ω > 1.126 ωn = 256.5
s
Prob. 2
A 45 kg machine is placed on four parallel springs each of stiffness 2 × 105 N / m . When the
machine operates at 32 Hz , the machine’s steady state amplitude is measured as 1.5 mm . What
is the magnitude of the excitation provided to the machine at this speed?
Solution.
Natural frequency of system is

4 ( 2 ×105 )
N
k eq m = 133.3 rad
ωn = =
m 45 kg s

2
System’s frequency ratio is

⎛ cycle ⎞ ⎛ rad ⎞
⎜ ⎟ 2π
s ⎠ ⎝ cycle ⎟⎠
⎜
32
⎡ω⎤ ⎝
⎢ ⎥ = = 1.51
ω
⎣ n⎦ 133.3
rad
s
For undamped system with frequency ratio greater than 1.0,
X k eq 1
Magnification = = 2
F0 ⎛ ω⎞
⎜ ⎟ −1
⎝ ωn ⎠
( 0.0015 m ) ( 4 × 2 ×105 N / m ) 1
= =
(1.51) −1
2
F0

⇒ F0 = 1.587 × 103 N
Prob. 3
Repeat the problem 1 with damping ratio of the beam as 0.08 .
Solution.
Natural frequency of system is
rad
ωn = 228.22
s
X
Magnification is = 3.74 (Maximum)
( F0 / k eq )
So,
1
3.74 >
2
⎡ ⎛ ω ⎞2 ⎤ ⎡ ⎛ ω ⎞ ⎤ 2
⎢1 − ⎜ ⎟ ⎥ + ⎢ 2ζ ⎜ ⎟ ⎥
ω ω
⎣⎢ ⎝ n ⎠ ⎦⎥ ⎣ ⎝ n ⎠ ⎦
1
⇒ 3.74 >
2
⎡ ⎛ ω ⎞2 ⎤ ⎡ ⎛ ω ⎞⎤
2

⎢1 − ⎜ ⎟ ⎥ + ⎢ 2 ( 0.08 ) ⎜ ⎟⎥
⎢⎣ ⎝ ωn ⎠ ⎥⎦ ⎣ ⎝ ωn ⎠⎦

⎡ω⎤
Let, ⎢ ⎥ = r
⎣ ωn ⎦
Therefore,

3
 1
3.74 >
2
⎡1 − ( r )2 ⎤ + ⎡ 2 ( 0.08 )( r ) ⎤ 2
⎣ ⎦ ⎣ ⎦
2
⇒ 13.98 ⎡1 − ( r ) ⎤ + 0.358 r 2 > 1
2
⎣ ⎦
⇒ r − 1.9744 r + 1 > 0.07149
4 2

⇒ r 4 − 1.9744 r 2 + 0.9285 > 0

(1.974 ) − 4 (1)( 0.9285 )

2
1.974 ±
(r ) =
2

2
1.974 ± 0.1826
=
2
Solving the equation, we get,
r = 1.095 and r = 0.8793
So allowable ranges of frequencies are
rad
ω < 0.8793 ωn = 200.4 and
s
rad
ω > 1.095 ωn = 249.9
s
Prob. 4
A 110 kg machine is mounted on an elastic foundation of stiffness 2 × 106 N / m . When
operating at 150 rad / s , the machine is subjected to a harmonic force of magnitude 1500 N . The
steady state amplitude is measured as 1.9 mm . What is the damping ratio of the foundation?
Solution.
Natural frequency of system is
N
2 × 106
k m = 134.8 rad
ωn = =
m 110 kg s

⎛ N⎞
Xk
(1.9 ×10 −3
m ) ⎜ 2 ×106 ⎟
⎝ m⎠
Magnification = = = 2.53
F0 (1500 N )
⎡ω⎤ 150
Frequency ratio r = ⎢ ⎥ = = 1.113
⎣ ωn ⎦ 134.8

4
 Xk 1 1
M= = = 2.53 ⇒ = 2.53
F0 ⎡ ⎛ ω⎞ ⎤ ⎡ ⎛ ω
2 2 2
⎡1 − ( r ) ⎤ + ⎡ 2ζ ( r ) ⎤ 2
⎞⎤
2 2

⎢1 − ⎜ ⎟ ⎥ + ⎢ 2ζ ⎜ ⎟⎥ ⎣ ⎦ ⎣ ⎦
⎢⎣ ⎝ ωn ⎠ ⎥⎦ ⎣ ⎝ ωn ⎠⎦

1 2 2 1
= ( 2.53) ⇒ ⎡1 − ( r ) ⎤ + ⎡⎣ 2ζ ( r ) ⎤⎦ =
2
⇒
2
2 ⎣ ⎦ ( 2.53)
2

⎣ ( ) ⎦ ⎣ ( )⎦
⎡1 − r 2 ⎤ + ⎡ 2ζ r ⎤ 2

1 1 2
⇒ ζ= − ⎡1 − ( r ) ⎤
2

2r ( 2.53)
2 ⎣ ⎦

1 1 2
⇒ ζ= − ⎡1 − (1.113) ⎤
2

2 (1.113) ( 2.53)
2 ⎣ ⎦

= 0.142
Prob. 5
For a fixed ( ζ ) , find the values of ( r ) for which maximum of magnification occurs and also find

the maximum magnification.

Solution.
1
−
⇒ M = ⎡⎢(1 − r 2 ) + ( 2 ζ r ) ⎤⎥
1 2
M=
2 2

⎣ ⎦
⎡⎣1 − r 2 ⎤⎦ + [ 2 ζ r ]
2 2

3
−
= − ⎡⎢(1 − r 2 ) + ( 2 ζ r ) ⎤⎥ ⎡⎣ 2 (1 − r 2 ) ( −2r ) + 2 ( 2 ζ r )( 2ζ ) ⎤⎦ = 0
dM 1 2
⇒
2 2

dr 2⎣ ⎦

⇒ (1 − r 2 ) ( −2r ) + 4 ζ 2 r = 0 ⇒ (1 − r 2 ) = 2ζ 2 ⇒ r = 1 − 2ζ 2

Substituting this value of ( r ) ,

1
M max =

( ) ( )
2
⎡ ⎤ ⎡ 2
1 − 2ζ 2 ⎤
2

⎢⎣1 − 1 − 2ζ 2 ⎥⎦ + ⎢⎣ 2 ζ ⎦⎥
1 1
= =
⎡1 − (1 − 2ζ 2 ) ⎤ + ⎡ 4 ζ 2 (1 − 2ζ 2 ) ⎤ 2ζ 1 − ζ 2
2

⎣ ⎦ ⎣ ⎦

5
Prob. 6
A 120 kg machine is mounted at the mid span of a 1.5 m long simply supported beam of elastic
N
modulus E = 200 × 109 2
and cross section moment if inertia I = 1.53 ×10−6 m 4 . An experiment
m
is run on the system during which the machine is subjected to a harmonic excitation of
magnitude 2000 N at a variety of excitation frequencies. The largest steady state amplitude
recorded during the experiment is 2.5 mm . Estimate the damping ratio of the system.
Solution.
The stiffness of the beam is
⎛ N ⎞
48 ⎜ 200 × 109 2 ⎟ (1.53 × 10−6 m 4 )
k= 3 = ⎝
48 E I m ⎠ N
= 4.35 × 106
(1.5 m )
3
L m

Natural frequency of system is

N
4.35 × 106
k m = 190.4 rad
ωn = =
m 120 kg s

⎛ N⎞
X max k
( 2.5 ×10 −3
m ) ⎜ 4.35 × 106 ⎟
⎝ m⎠
M max = = = 5.44
F0 ( 2000 N )

⇒ 4ζ 2 (1 − ζ 2 ) =
1 1 1
M max = ⇒ ζ4 − ζ2 + =0
( M max ) 4 ( M max )
2 2
2ζ 1 − ζ 2

1⎡ 1 ⎤ 1⎡ 1 ⎤
⇒ ζ2 = ⎢1 ± 1 − ⎥ ⇒ ζ2 = ⎢1 ± 1 − ⎥
2⎢ ( M max ) ( 5.44 )
2
⎥⎦ 2⎢ 2
⎣ ⎣ ⎥⎦

⇒ ζ 2 = 0.9915 and 0.008525 ⇒ ζ = 0.9957 and 0.0923

1
For ( M max ) and ( r ) positive, the value of ( ζ ) has to be less than or 0.707 . Therefore, the
2
value of damping ratio is 0.0923 .

6
Prob. 7
Given:
N N.s rad
m = 10 kg, I = 0.1 kg.m 2 , r = 10cm, k = 1.6 × 105 , c = 640 , M 0 = 100 N.m, ω = 180 .
m m s
Determine steady state amplitude of the system.
( y)

( θ)
(I)
(I) (z)

Solution.
x = r θ, y = 2 r θ = 2 x and z = x .
Potential energy:
1 2 1 2
U= kx + ky
2 2
1 1
= k x 2 + k ( 2x )
2
Therefore, k eq = 5k .
2 2
1 1
= ( k + 4k ) x 2 = ( 5k ) x 2
2 2
Kinetic energy:
1 1
T= m x 2 + I θ 2
2 2
2
1 1 ⎛ x ⎞
= m x + I ⎜ ⎟
2
Since, x = r θ .
2 2 ⎝r⎠
1⎡ I⎤
= ⎢ m + 2 ⎥ x 2
2⎣ r ⎦

7
 ⎡ I⎤
Therefore, m eq = ⎢ m + 2 ⎥ .
⎣ r ⎦
x2

W = − ∫ c x dx Since, z = x .
x1

Therefore, ceq = c .

Equation of motion of the system:

⎡ I⎤ M 0 sin ( ωt )
x + c x + ( 5k ) x =
⎢⎣ m + r 2 ⎥⎦  r
Natural frequency of system is
N
k eq ( 5k ) 5 ×1.6 × 105
m rad
ωn = = = = 200
m eq ⎛ I ⎞ ⎛ ⎞ s
⎜m + 2 ⎟
2
⎜10 kg + 0.1kg.m ⎟
⎝ r ⎠
⎜ (10 ×10 m ) ⎟⎠
−2 2

⎡ω⎤ 180
Frequency ratio rf = ⎢ ⎥ = = 0.90 .
⎣ ωn ⎦ 200

Damping ratio ( ζ ) is

N.s
640
c c m
ζ= = = = 0.08
cc 2m eq ωn ⎛ ⎞
⎜ 0.1kg.m 2 ⎟ ⎛ rad ⎞
2 10 kg + 2 ⎜
200 ⎟
⎜
⎝ (10 × 10 −2
m ) ⎟⎝
⎠
s ⎠

Magnification is
X k eq 1 1
M= = =
( M0 / r ) ⎡ ⎛ ω ⎞2 ⎤ ⎡ ⎛ ω
2
⎞⎤
2 2
⎡1 − ( 0.9 )2 ⎤ + ⎡ 2 ( 0.08 )( 0.9 ) ⎤ 2
⎢1 − ⎜ ⎟ ⎥ + ⎢ 2ζ ⎜ ⎟⎥ ⎣ ⎦ ⎣ ⎦
⎢⎣ ⎝ ωn ⎠ ⎥⎦ ⎣ ⎝ ωn ⎠⎦
= 4.19
The steady state amplitude of the system is

8
 4.19 ( M 0 / r ) 4.19 ⎡⎣(100 N.m ) / (10 × 10 m ) ⎤⎦
−2

X= =
k eq ⎛ 5 N⎞
⎜ 5 ×1.6 × 10 ⎟
⎝ m⎠
= 0.005238 m ( or 5.234 mm )