Mechanical Vibrations

March 2024

Harmonically Excited Vibration

(Forced Vibration)

Mechanical Engineering Department

Universitas Diponegoro

1
Learning Objectives

1. Find the responses of undamped and viscously damped

SDOF systems subjected to different types of harmonic
force including base excitation and rotating unbalance.

2. Distinguish between transient, steady-state, and total

solutions.

3. Identify variation of magnification factor, phase angles

as function of exciting frequency and the phenomena
resonance and beating
 Chapter Outline

18 and 23 March 2024

3.3 Response of an Undamped System Under Harmonic Force

3.4 Response of a Damped System Under Harmonic Force

3.5 Response of a Damped System Under F (t ) = F0eit

25 March 2018
3.6 Response of a Damped System Under the Harmonic Motion of
the Base
3.7 Response of a Damped System Under Rotating Unbalance

3
 Equation of Motion

• Thevariations of homogeneous and general solutions with time for

a typical case are shown in the figure below.

A spring-mass-damper system

mx + cx + kx = F (t ) (3.1)

Homogenous and general solutions of Eq. (3.1) for an underdamped case

4
 3.3 Response of an Undamped System Under
Harmonic Force
• Consider an undamped system subjected to a harmonic force. If a
force F (t ) = F0 cost acts on the mass m of the system,
mx + kx = F0 cost (3.3)

• The homogeneous solution is given by:

xh (t ) = C1 cosnt + C2 sin nt (3.4)
where n = (k / m) is the natural frequency
1/ 2

• Because the exciting force and particular solution is harmonic and

has the same frequency, we can assume a solution in the form:
x p (t ) = X cost (3.5)
F0  st
where X is the max amplitude of xp(t) X= = (3.6)
k − m 2
 
2

1 −  
where  st = F0 / k denotes the static deflection  n 
5
 3.3 Response of an Undamped System Under
Harmonic Force
F0
x(t ) = C1 cosnt + C2 sin nt + cost (3.7)
k − m 2

F0 x0
Using IC C1 = x0 − , C2 = (3.8)
k − m 2 n

 F0   x0   F0 
x(t ) =  x0 − 2 
 
cosnt +   sin nt +  2 
cost (3.9)
 k − m   n   k − m 

6
 3.3 Response of an Undamped System Under
Harmonic Force

• The quantity X /  st is called the magnification factor, amplification

factor, or amplitude ratio.

• The variation of the amplitude ratio with

the frequency ratio is shown in the figure.

• Theresponse of the system can be

identified to be of three types.
– Case 1: 0 <  / n < 1
– Case 2:  / n > 1
– Case 3:  / n = 1

Magnification factor of an undamped system

7
 3.3 Response of an Undamped System Under
Harmonic Force

• Case 1: 0 <  / n < 1

• Case 2:  / n >1
x p (t ) = − X cost (3.11)
 st
X= 2
(3.12)
 
  − 1
 n 

• Case 3:  / n = 1 (at resonance!!)

x  t
x(t ) = x0 cosnt + 0 sin nt + st n sin nt (3.15)
8
n 2
 3.3 Response of an Undamped System Under
Harmonic Force
The total response of the system, Eq.(3.7) or Eq.(3.9), can also be
expressed as
 st 
x(t ) = A cos(nt −  ) + cost; for 1 (3.16)
 
2
n
1 −  
 n 

 st 
x(t ) = A cos(nt −  ) − cost ; for 1 (3.17 )
 
2
n
1 −  
 n 

9
 3.3 Response of an Undamped System Under
Harmonic Force
• BeatingPhenomenon: If the forcing frequency is close to, but not
exactly equal to, the natural frequency of the system, beating may
occur.
 F /m 
x(t ) =  0 sin t  sin t (3.22)
 2 

• The
time between the points of zero amplitude or the points of
maximum amplitude is called the period of beating
2 2
b = = (3.23)
2 n − 

The frequency of beating defined as b = 2 = n − 

10
 3.4 Response of Damped System Under Harmonic
Force

• The equation of motion can be derived as

( ) 
X k − m 2 cos(t −  ) − c sin (t −  ) = F0 cost (3.24)
• Using trigonometric relations, we obtain

( ) 
X k − m 2 cos + c sin  = F0
X (k − m )sin  − c cos  = 0
2
(3.27 )
• The solution gives
F0
X=
(k − m ) + c   1/ 2
(3.28)
2 2 2 2

 c 
 = tan −1  2 
(3.29)
 k − m 
11
 3.4 Response of Damped System Under Harmonic
Force

• Thefigure shows typical plots of the forcing function and steady-

state response.

(a) Graphical representation (b) Vectorial representation

12
 3.4 Response of Damped System Under Harmonic
Force

• Substituting the following,

n =
k c
= 2n ;  st =
F0 
; ; r=
m m k n
• We obtain
X 1 1
= = (3.30)
 st  22
 2
1/ 2
(1 − r ) + (2r )
2 2 2
      
1 −    + 2  

  n     n 

  
 2 
 n  −1  2 r 
 = tan −1  2
= tan  2 
(3.31)
     1 − r 
1 −    
  n 
13
 3.4 Response of Damped System Under Harmonic
Force

• Thefollowing characteristics of the magnification factor (M) can be

noted from the figure as follows:

14
 3.4 Response of Damped System Under Harmonic
Force

1. For an undamped system ( = 0) , Eq.(3.30) reduces to Eq.(3.10),

and M →  as r → 1 .

2. Any amount of damping ( = 0) reduces the magnification factor

(M) for all values of the forcing frequency.

3. For any specified value of r, a higher value of damping reduces the

value of M.

4. In the degenerate case of a constant force (when r = 0), the value

of M = 1.

15
 3.4 Response of Damped System Under Harmonic
Force

5. The reduction in M in the presence of damping is very significant at

or near resonance.

6. The amplitude of forced vibration becomes smaller with increasing

values of the forcing frequency (that is, M →  as r → 1 ).

1
7. For 0    , the maximum value of M occurs when
2

r = 1 − 2 2 or  = n 1 − 2 2 (3.32)

which can be seen to be lower than the undamped natural

frequency and the damped frequency d = n 1 −  2

16
 3.4 Response of Damped System Under Harmonic
Force

8. The maximum value of X (when r = 1 − 2 2 ) is given by:

X  1
  = (3.33)
  st  max 2 1 − 
2

and the value of X at  = n by

X  1
  = (3.34)
  st  =n 2

1 dM 1
9. For  =
2
,
dr
=0 when r = 0. For  
, the graph of M
2
monotonically decreases with increasing values of r.

17
 3.4 Response of Damped System Under Harmonic
Force

• The following characteristics of the phase angle can be observed

from the figure and Eq.(3.31) as follows:

18
 3.4 Response of Damped System Under Harmonic
Force

1. For an undamped system ( = 0) , Eq.(3.31) shows that the phase

angle is 0 for 0 < r < 1 and 180° for r > 1. This implies that the
excitation and response are in phase for 0 < r < 1 and out of phase
for r > 1 when  = 0 .

2. For   0 and 0 < r < 1, the phase angle is given by 0 < Φ < 90°,
implying that the response lags the excitation.

3. For   0 and r > 1, the phase angle is given by 90° < Φ < 180°,
implying that the response leads the excitation.

19
 3.4 Response of Damped System Under Harmonic
Force

4. For   0 and r = 1, the phase angle is given by Φ = 90°,

implying that the phase difference between the excitation and the
response is 90°.

5. For   0 and large values of r, the phase angle approaches 180°,

implying that the response and the excitation are out of phase.

20
 3.4 Response of Damped System Under Harmonic
Force

• Total response

For an underdamped system,

x(t ) = X 0e− nt cos(d t − 0 ) + X cos(t −  ) (3.35)

d = 1 −  2 n (3.36)

For the initial conditions, Eq.(3.35) yields

x0 = X 0 cos0 + X cos
x0 = −n X 0 cos0 + d X 0 sin 0 + X sin 0 (3.37)

21
 3.4 Response of Damped System Under Harmonic
Force
Example 3.3 Total Response of a System
Find the total response of a single degree of freedom system with
m =10kg, c = 20 N-s/m, k = 4000 N/m, x0 = 0.01 m under the following conditions: x0 = 0
a. An external force F (t ) = F0 cost acts on the system with  = 10 rad/s and F0 = 100 N .
b. Free vibration with F(t) = 0.

Solution

n = k
m = 4000
10 = 20 rad/s
 st = F0
k = 100
4000 = 0.025 m
 = cc = c
c
2 km
= 2
20
( 4000)(10)
= 0.05

d = 1 −  2 n = 1 − (0.05)2 (20 ) = 19.974984 rad/s

r = n = 10
20 = 0.5

 st 0.025
X= = = 0.03326 m (E.1)
(1 − r ) + (2r )
2 2 2
(1 − 0.05 ) + 2(0.5)(0.5)
2 2 2

22
 3.4 Response of Damped System Under Harmonic
Force
Example 3.3 Total Response of a System
Solution (cont’d)

 2r  −1  2  0.05  0.5 

We have  = tan −1   = tan   = 3.814075  (E.2)
1− r   1 − 0.5 
2 2

Using initial conditions x0 = 0.01 and x0 = 0

X 0 cos0 = −0.023186 (E.3)

0 = −(0.05)( 20) X 0 cos0 + X 0 (19.974984 ) sin 0
+(0.03326 )(10) sin( 3.814075 ) (E.4)

Substituting Eq.(E.3) into (E.4), X 0 sin 0 = −0.002268 (E.5)


X 0 = ( X 0 cos0 ) 2 + ( X 0 sin 0 ) 2 
1/ 2
= 0.023297 (E.6)

Hence, tan  = X 0 sin 0 = 0.0978176

X 0 cos0
0

0 = 5.586765  (E.7)
23
 3.4 Response of Damped System Under Harmonic
Force

Example 3.3 Total Response of a System

Solution (cont’d)

b. For free vibration, the total response is x(t ) = X 0e− nt cos(d t − 0 ) (E.8)

1/ 2
 
1/ 2
  0.05  20  0.01  
2
  
2
x
Using the initial conditions, 0
X =  x0
2
+ 
   
n 0
 = 0.01 + 
2
  = 0.010012 (E.9)
  d     19.974984  

 x0 + n x0  0.05  20 

0 = tan −1  −  = tan −1  −  = −2.865984  (E.10)
 d x0   19.974984 

24
 3.4 Response of Damped System Under Harmonic
Force

• Quality factor and bandwidth:

For values of damping (  0.05,)

 X   X  1
     = =Q (3.38)
 
 st  max  st  =
n
2

Power absorbed by damper: W = cX 2

From figure, R1 and R2 is the bandwidth of the system.

Set X /  st = Q / 2 , hence,
1 Q 1
= =
(1 − r 2 ) 2 + (2r ) 2 2 2 2

equation for small values of 

1 n
Q  (3.46)
2 2 − 1

25
 it
3.5 Response of Damped System Under F (t ) = F0e
• The equation of motion becomes mx + cx + kx = F0eit (3.47)

• Assuming the particular solution x p (t ) = Xeit (3.48)

• Substituting, X =
F0
(3.49)
(k − m 2 ) + ic
 k − m 2 c 
X = F0  −
(k − m 2 ) 2 + c 2 2 
i (3.50)
 ( k − m ) + c 
2 2 2 2

x + iy = Aei
F0
Using the relation X= e−i
(k − m ) 
• (3.51)
2 2
+ c 2 2 1/ 2

 c 
 = tan −1  2 
(3.52)
 k − m 
• Hence, the steady-state solution becomes
F0
x p (t ) = ei (t − )
(k − m 
(3.53)
) + (c )
2 2 2 1/ 2

26
 it
3.5 Response of Damped System Under F (t ) = F0e
• Frequency Response
kX 1
H (i )  = (3.54 )
F0 1 − r 2 + i 2r

The absolute value becomes, H (i ) = H (i ) e − i (3.56)

 2r 
where  = tan −1  2 
(3.57 )
1− r 
Thus, the steady-state solution becomes,
F0
x p (t ) = H (i) ei (t − ) (3.58)
k
If F (t ) = F0 cost
F0
x p (t ) = cos(t −  )
(k − m )
2 2
+ (c ) 
2 1/ 2

F  F 
= Re 0 H (i )eit  = Re 0 H (i ) ei (t − )  (3.59)
k  k 

27
 it
3.5 Response of Damped System Under F (t ) = F0e

• Complex Vector Representation of Harmonic Motion

Differentiating Eq.(3.58) with respect to time,

F0
Velocity = x p (t ) = i H (i ) ei (t − ) = ix p (t )
k
F
Acceleration = xp (t ) = (i ) 2 0 H (i ) ei (t − ) = − 2 x p (t ) (3.61)
k

28
 3.6 Response of Damped System Under the Harmonic
Motion of the Base
• From the figure, the equation of motion is

mx + c( x − y ) + k ( x − y ) = 0 (3.64)

• If y (t ) = Y sin t
mx + cx + kx = ky + cy = kY sin t + cY cost
= A sin(t −  ) (3.65)

 c 
A = Y k 2 + (c ) 2 and  = tan −1 −
 k 

Steady state response: Y k 2 + (c ) 2

• x p (t ) = sin(t − 1 −  )
(k − m ) 
(3.66)
2 2
+ (c ) 2 1/ 2

 c 
1 = tan −1  2 
 k − m 

29
 3.6 Response of Damped System Under the Harmonic
Motion of the Base

• Equation 3.66 can also be written as x p (t ) = X sin(t −  ) (3.67)

1/ 2 1/ 2
where X  k 2 + (c ) 2   1 + (2r ) 2 
=  = 2
(3.68)
Y  (k − m 2 ) + (c ) 2   (1 − r ) + (2r ) 
2 2

 mc 3  −1  2r 3 
 = tan −1
2
= tan  2
(3.69)
 k (k − m ) + (c)  1 + (4 − 1)r 
2 2

 1 + i 2r  it 
x p (t ) = Re Ye  (3.70)
 1 - r 2
+ i 2 r  

displacement transmissibility
X
Y
 
= Td = 1 + (2r ) 2 H (i )
1/ 2
(3.71)

30
 3.6 Response of Damped System Under the Harmonic
Motion of the Base

Note on displacement transmissibility plot:

1. The value of Td is unity at r = 0 and close to unity for small values of r.

2. For an undamped system (ζ = 0), Td →∞ at resonance (r = 1).

3. The value of Td is less than unity (Td < 1) for values of r >√2 (for any amount of
damping ζ ).

4. The value of Td = 1 for all values of ζ at r =√2.

5. For r <√2, smaller damping ratios lead to larger values of Td. On the other hand, for
r >√2, smaller values of damping ratio lead to smaller values of Td.

6. The displacement transmissibility, Td, attains a maximum for 0 < ζ < 1 at the
frequency ratio r = rm < 1 given by:

rm =
1
2
 1 + 8 −1
2
1/ 2

31
 3.6 Response of Damped System Under the Harmonic
Motion of the Base
Force transmitted
F = k ( x − y) + c( x − y ) = −mx (3.72)
F = m 2 X sin(t −  ) = FT sin(t −  ) (3.73)

The force transmissibility:

1/ 2
FT 2 1 + (2r )2 
=r  2
(3.74)
 (1 − r ) + (2r ) 
2 2
kY

32
 3.6 Response of Damped System Under the Harmonic
Motion of the Base
Relative Motion
The equation of motion can be written as
mz + cz + kz = −my = m 2Y sin t (3.75)

The steady-state solution is given by:

m 2Y sin(t − 1 )
z (t ) = = Z sin(t − 1 )
(k − m 
(3.76)
) + (c )
2 2 2 1/ 2

where Z=
m 2Y
=Y
r2
(3.77 ) ,
(k − m ) + (c )
2 2 2
(1 − r ) + (2r )
2 2 2

 c  −1  2r 
1 = tan −1   = tan  2 
 k − m 2
  1 − r 

33
 3.6 Response of Damped System Under the Harmonic
Motion of the Base

Example 3.4
Vehicle Moving On a Rough Road

The figure below shows a simple model of a motor vehicle that can
vibrate in the vertical direction while traveling over a rough road. The
vehicle has a mass of 1200kg. The suspension system has a spring
constant of 400 kN/m and a damping ratio of ζ = 0.5. If the vehicle
speed is 20 km/hr, determine the displacement amplitude of the
vehicle. The road surface varies sinusoidally with an amplitude of Y =
0.05m and a wavelength of 6m.

34
 3.6 Response of Damped System Under the Harmonic
Motion of the Base

Example 3.4 Vehicle Moving On a Rough Road

 v 1000  1
For v = 20 km/hr, ω = 5.81778 rad/s  = 2f = 2 
 3600  6
 = 0.290889 v rad/s
 5.81778
r= = = 0.318653
k  400 103 
1/ 2
n 18.2574
n = =  = 18.2574 rad/s
m  1200 

Amplitude ratio 1/ 2 1/ 2
X  1 + (2r )2   1 + (2  0.5  0.318653 )2 
=  = 2
= 1.100964
Y  (1 − r 2 )2 + (2r )2   (1 − 0.318653 ) + (2  0.5  0.318653 ) 
2

Diplacement X = 1.100964Y = 1.4100964 (0.05) = 0.055048 m

A 5cm bump in the road is transmitted as a 7.3cm bump to the chassis and the passengers of the car .

35
 3.7 Response of a Damped System Under
Rotating UnBalance

• The equation of motion:

Mx + cx + kx = me 2 sin t (3.78)

• The solution:
 me    2 
x p (t ) = X sin(t −  ) = Im   H (i ) e i (t − )
 (3.79)
 M  n  
• The amplitude and phase angle
2
me 2 me   
X= =   H (i )
(k − M )2 2
+ (c )2 
1/ 2
M  n 

 c 
 = tan −1  2 
(3.80)
 k − M 

• Since  = c / cc and cc = 2Mn

MX r2
= = r 2 H (i )
me 
(1 − r ) + (2r )
2 2 2 1/ 2

 2r 
 = tan −1  2 
(3.81)
1− r 
36
 3.7 Response of a Damped System Under
Rotating UnBalance
Observations on Eq.(3.81) and the figure:

1. All the curves begin at zero amplitude. The amplitude near resonance is markedly
affected by damping. Thus if the machine is to be run near resonance, damping
should be introduced purposefully to avoid dangerous amplitudes.

2. At very high speeds (ω large), MX/me is almost unity, and the effect of damping is
negligible.
d  MX 
3. For 0 < ζ < 1/√2 , the maximum of MX/me  =0 (3.82)
dr  me 
The solution gives:   1 2 , MX me   MX  1
  =
With corresponding maximum value:  me  max 2 1 −  2

Thus the peaks occur to the right of the resonance

1
4. For r =  1 , does not attain a maximum. Its value grows from 0 at r = 0 to 1
1 − 2 2

at r → ∞ .

5. The magnitude (or maximum value) of F can be derived as 1/ 2

 1 + 4 2 r 2 
F = me 2   (3.84)
 (1 − r 2 ) + 4 2 r 2 
2
37