Free Vibration of Sdof Systems

Chapter 3 – Forced Vibration of SDOF Systems
CE 137 – STRUCTURAL DYNAMICS AND

EARTHQUAKE ENGINEERING
Engr. JJCA / 1st Semester, AY 2016-2017 7/18/2019 2:48 PM
OUTLINE OF PRESENTATION
3.1. Undamped Forced Vibration

3.2. Resonance
3.3. Damped Forced Vibration
3.4. Vibration Measurement Instruments
3.5. Evaluation of Structural Damping
3.6. Vibration Isolation
3.6.1. Response to Support Motion
3.6.2. Force Transmitted to Foundation
2
3.1. UNDAMPED FORCED VIBRATION
 A harmonic load is a type of load that exhibits

simple harmonic motion, which follows a rotary
motion rotating at a constant angular frequency.
 For the purpose of illustrating a forced vibration,
a harmonic loading will be considered since all
other types of loads can be approximated by a
harmonic load.
3
Consider a harmonic excitation 𝑝 𝑡 = 𝐹𝑜 sin 𝜔𝑡

u (t )
k
m F (t )  Fo sin t
c
Figure 3-1. Forced Vibration Model
Fo is the maximum magnitude of the dynamic force
 is forcing frequency of the dynamic force
4

u (t )
k
c
Figure 3-1. Forced Vibration Model

Undamped Case (c = 0) 𝑚𝑢ሷ + 𝑘𝑢 = 𝑝𝑜 sin 𝜔𝑡 Eq. 3-1
Damped Case (c ≠ 0) 𝑚𝑢ሷ + 𝑐𝑢ሶ + 𝑘𝑢 = 𝐹𝑜 sin 𝜔𝑡 Eq. 3-2
5

u (t )
k
Figure 3-1. Forced Vibration Model.
The equation of motion for forced vibration is given by

𝑚𝑢ሷ + 𝑘𝑢 = 𝐹𝑜 sin 𝜔𝑡 Eq. 3-1
6
 The solution to differential equation is a sum of

two solutions.
 The first is complementary solution 𝑢𝑐 , which is due
to the differential equation of motion.
 The second is particular solution 𝑢𝑝 , which is due
to the external dynamic force.
u (t )  uc  u p Eq. 3-3
7
 The general solution to the differential equation

is in the form
𝑢𝑐 𝑡 = 𝑐1 cos 𝜔𝑛 𝑡 + 𝑐2 sin 𝜔𝑛 𝑡 Eq. 3-4
 The particular solution (using MUC) due to the

external force is
𝑝𝑜 1
𝑢𝑝 𝑡 = sin 𝜔𝑡 Eq. 3-5
𝑘 1 − 𝜔/𝜔𝑛 2
8
 Evaluating the initial boundary coonditions 𝑢 =

𝑢 0 and 𝑢ሶ = 𝑢(0),
ሶ the complete solution is
given by
 u (0) po  / n 
u (t )  u (0) cos nt    2
sin nt
 n k 1   / n  
po 1
 sin t ,   n Eq. 3-6
Transient response k 1   / n 2
Steady-state response
9
 Steady-state vibration (particular solution)

 Vibration caused by the action of external dynamic
excitation
 Transient vibration (general solution)

 Vibration caused by the initial boundary conditions
 Exists even if the structure is at rest conditions
10
Figure 3-2. Harmonic Force

(Chopra, 1995)
Figure 3-3. Response due to

Harmonic Force (Chopra, 1995)
11
 If u (0)  u (0)  0, the equation simplifies to
po 1   
u (t )   sin t  sin nt ,   n
2  Eq. 3-7
k 1   / n   n 
 In reality, transient response decays with

damping over time, hence only steady-state will
be considered.
po 1
u (t )  sin t ,   n Eq. 3-8
k 1   / n 2
12
 If we neglect the dynamic effects of the object

(static condition), the response of the object
becomes
po
u (t )  sin t Eq. 3-9
k
 The maximum response of the static

deformation is
ust o 
po
Eq. 3-10
k
13
 We may rewrite the steady-state response as

u(t )  ust o Rd sin t    Eq. 3-11
Where:

ust o 
po
Rd 
1
r
k 1 r 2 n
 00 if F(t) and u(t) have the same direction

  0 if F(t) and u(t) have opposite direction
180
14

 The term Rd is called the Deformation Response
Factor (Chopra 1995) and is given by Eq. 3-12:
1
Rd 
1   / n 
2 Eq. 3-12
 Other terms used are Dynamic Magnification

Factor (Paz and Leigh, 2004), Dynamic
Amplification Factor or Displacement Response
Factor (Paultre, 2011).
15
 Notes on Dynamic Response Factor

 If the forcing frequency is less than the natural
frequency, the motion is said to be in-phase.
 If the forcing frequency is greater than the natural
frequency, the motion is said to be out of phase.
16
UNDAMPED FORCED VIBRATION
 The term  is called the phase angle.

 00
  0
Eq. 3-13
180
 If the forcing frequency is less than the natural
frequency, the phase angle is 00.
 If the forcing frequency is greater than the natural
frequency, the motion is said to be 1800.
17
(a)
Figure 3-4. Behavior of (a) steady-state response, (b) Deformation
response factor, and (c) phase angle vs. frequency ratio.
(Chopra,1995) 18
(b) (c)
Figure 3-4. Behavior of (a) steady-state response, (b) Deformation
response factor, and (c) phase angle vs. frequency ratio.
(Chopra,1995) 19
3.2. RESONANCE
 What happens when the forcing frequency is

equal to the natural frequency?
mu  ku  po sin nt Eq. 3-14
 The solution in Eq. 3-6 is not valid anymore.

 u (0) po  / n 
u (t )  u (0) cos nt    2
sin nt
 n k 1   / n  
po 1
 sin t ,   n Eq. 3-6
k 1   / n 2
20
3.2. RESONANCE
 Resonance – occurs when the forcing

frequency matches the natural frequency of the
structure.
 The solution to the differential equation

subjeted to the following initial boundary
condition 𝑢 0 = 𝑢ሶ 0 = 0 is
u (t )   u st o nt cos nt  sin nt 

1
Eq. 3-15
2
21
3.2. RESONANCE
 Two ways to determine the response of SDOF

system subjected to resonant harmonic loading
 Method of Undetermined Coefficients
 Use 𝑢𝑝 = 𝐶𝑡 cos 𝜔𝑛 𝑡
 L’Hospital’s Rule
 Apply L’Hospital’s rule on Eq. 3-7
22
3.2. RESONANCE
 Here are some real-life examples of

resonance
 Wine Glass CLICK ME
 Barton’s Pendulum CLICK ME
 Structures CLICK ME
23
3.2. RESONANCE
Figure 3-5. Response of structure under resonance

neglecting the effects of damping. (Chopra, 1995)
24
3.2. RESONANCE
 Notes on Resonance
 It is only applicable to undamped and lightly
damped systems.
 In practice, resonance will cause plastic
deformation in the structure before reaching
excessive displacements.
25
3.2. RESONANCE
 Notes on Resonance
 Many structures collapse under dynamic loads
because the natural frequency of the structure
matches that of the excitation.
26
SAMPLE PROBLEM 3.1

A cantilever beam of negligible weight is excited
by a rotating machine with a mass of 100 kg
which is mounted at the free end. The static
deflection under the weight of the machine is
1.5 mm. If the motor in the machine runs at
400 rev/min that produces an unbalanced
force of 40 kN, determine the steady-state
amplitude of the beam. Assume negligible
damping.
27
3.3. DAMPED FORCED VIBRATION
 Consider a harmonic excitation 𝑝 𝑡 = 𝑝𝑜 sin 𝜔𝑡
u (t )
k
c
Figure 3-1. Forced Vibration Model. (Paultre, 2010)

𝑚𝑢ሷ + 𝑐 𝑢ሶ + 𝑘𝑢 = 𝐹𝑜 sin 𝜔𝑡 Eq. 3-2
28
 The complementary solution to the differential

equation (underdamped case) is in the form of
uc (t )  e  n t
c1 cos Dt  c2 sin Dt  Eq. 3-16
 The particular solution to the differential

equation is in the form of
u p (t )  A sin t  B cos t Eq. 3-17
29
 By Method of Undetermined Coefficients

(MUC), the values of the constants are as
follows:
1   / n 
2
Fo
A
 
Eq. 3-18
k 1   /  2 2  2  /  2
n n
Fo  2  / n 
B
 
Eq. 3-19
k 1   /  2 2  2  /  2
n n
30

 The complete solution to the differential
equation is given by
u(t )  e  nt c1 cos Dt  c2 sin Dt   A sin t  B cos t Eq. 3-20
Transient Response Steady-State Response
 Due to damping, transient response decays

with time and only steady-state response
remains.
31
Figure 3-6. Response of damped systems to

harmonic excitation. (Chopra, 1995)
32
 For resonance, the complete solution subjected

to zero initial conditions is given by
ust o  
 cos  t    
u (t )  e  n t
sin  D t   cos nt  Eq. 3-21
2   D
  2  
  1 
 During resonance, the maximum response of

an SDOF system is given by
ust o
u (t )  Eq. 3-22
2
33
Figure 3-7. Response of damped systems to harmonic

excitation at resonance. (Chopra, 1995)
34
Figure 3-8. Response of damped resonant harmonic

systems withvarying damping ratios. (Chopra, 1995)
35

u(t )  ust o Rd sin t    Eq. 3-23
Where:
ust o  Fo Rd 
1
k 1  r   2r 
2 2 2
Eq. 3-24
 2 r
r
n   tan 1  B / A  tan 1
1 r 2
36
Figure 3-9. Response of damped harmonic systems with

varying frequency ratios (Chopra, 1995) 37
 Observations from the plot:

 For smaller frequency ratios, the dynamic response
is approximately the same which differs only by a
small phase lag or time lag.
 The largest dynamic response comes from
resonance and the phase lag is equal to 90
degrees.
38
 Observations from the plot:

 The dynamic response is lower than the steady-
state response having larger phase lags than
resonance.
39
Figure 10. Behavior of deformation response factor and

phase angle of steady-state response with varying
frequency ratios. (Chopra, 1995) 40

 Observation of the plots:
 For very small frequency ratios less than one, the
steady-state response is almost equal to static
deformation. The response is greatly affected by
structural stiffness.
𝑝𝑜
𝑢𝑜 ≈ Eq. 3-25
𝑘
 The phase angle in this case is close to 0 degree
and is approximately in phase with the applied
force.
41

 For very large frequency ratios greater than one,
the response is nearly unaffected by damping. The
steady-state response is given by
𝑝𝑜 𝜔𝑛 2 𝑝𝑜
𝑢𝑜 ≈ = Eq. 3-26
𝑘 𝜔 𝑚𝜔 2
 The phase angle in this case is close to 180

degrees and is approximately out of phase with the
applied force.
42

 For frequency ratios almost equal to one, the
steady-state response is approximately equal to the
response at resonance and is given by
𝑝𝑜 𝑝𝑜
𝑢𝑜 ≈ = Eq. 3-27
2𝑘𝜁 𝑐𝜔𝑛
 The phase angle in this case is close to 90 degrees.
43
SAMPLE PROBLEM 3.2
The displacement amplitude uo of an SDOF

system due to harmonic force is known for two
excitation frequencies. At  = n, uo = 2.5 in; at
 = 6n, uo = 0.1 in. Estimate the damping
ratio of the system.
44
SAMPLE PROBLEM 3.3
An air-conditioning unit weighing 1200 lb is

bolted at the middle of two parallel simply
supported steel beams as shown in Figure 3-17.
The clear span of the beams is 8 ft. The second
moment of cross-sectional area of each beam is
10 in4.
Figure 3-17. Sample Problem 3.2 45

SAMPLE PROBLEM 3.3

The motor in the unit runs at 300 rpm and
produces an unbalanced force of 60 lb at this
speed. Neglect the weight of the beams and
assume 5% viscous damping in the system; for
steel E = 30,000 ksi.
Determine the amplitudes of steady-state
deflection and steady-state acceleration (in g's)
of the beams at their midpoints which result from
the unbalanced force.
46
3.4. VIBRATION MEASUREMENT INSTRUMENTS
 Used to measure displacement (or strains),

velocity and acceleration of a structure
Figure 3-11. Setup of Vibration Measurement. (Paultre, 2010) 47

 Steps in measurement of vibrations

(1) Sensors are mounted on the structure
(2) Sensors detect vibration and convert the

parameter of interest into an electrical signal
(usually, a voltage of small magnitudes)
(3) For processing in the computer, small voltages
are amplified before being fed into an analyzer
for measurement and display and digitally
stored for further processing.
48
Figure 3-12. Three velocity sensors in NS-EW-UD directions for

ambient vibration measurements in UPLB. (Aguirre et al., 2016) 49
 Generally, there are two types used for

structures:
 Displacement sensors or seismometers
 Accelerometers
 Velocimeters are used typically for detecting

movements of soils
50
 Sources of excitation can be classified into two

types depending on the structure being tested:
either forced excitation or ambient excitation.
 Forced excitation can be sinusoidal from an
exciter, random from a noise generator, or
transient from an impact.
51
 Ambient excitation can be wind, traffic,

walking, etc.
52
Figure 3-13. Forced Vibration Measurement in a dam for

determination of dynamic properties. 53
Figure 3-14. Forced Vibration Measurement in structural

Systems determination of dynamic properties and
structural health monitoring. 54
Figure 3-15. Forced Vibration Measurement in a bridge for

determining the dynamic effects of several vehicle types. 55
Figure 3-16. Accelerometers in the support of a

56
bridge (abutment).
3.5. EVALUATION OF DAMPING
 By free-decay method from a free-vibration

test, the logarithmic decrement is given by
1 𝑢𝑖
𝛿 = ln Eq. 3-28
𝑗 𝑢𝑖+𝑗
 Assuming small damping ratios, 𝜁 ≤ 0.20,

the damping ratio can be approximated as
𝛿 1 𝑢𝑖
𝜁≈ = ln
2𝜋 2𝜋𝑗 𝑢𝑖+𝑗 Eq. 3-29
57

 Generally, accelerations
are much easier to record
than displacements, hence
the damping ratio can be
approximated as
𝛿 1 𝑢ሷ 𝑖
𝜁≈ = ln Eq. 3-30
2𝜋 2𝜋𝑗 𝑢ሷ 𝑖+𝑗
 This method is not suitable
for very massive structures
and dams.
Figure 3-18. (a) Free Vibration Test
58
and (b) Response

 In amplification method,
harmonic
excitation is applied with an harmonic
shaker to a structure with predetermined
frequencies, 𝜔, and amplitudes to obtain a
graph of the structure’s response as a
function of the ratio 𝜔/𝜔𝑛 . At small
damping ratios less than 1 at resonance, we
have
𝑢𝑠𝑡 𝑜
𝑢𝑜 = Eq. 3-31
2𝜁
59

 Therefore, the damping ratio can be
estimated as
𝑢𝑠𝑡 𝑜
𝜁= Eq. 3-32
2𝑢𝑜
 Using accelerometers, displacements can
be solved from recorded acceleration
amplitude by
𝑢ሷ 𝑜
𝑢𝑜 = 2 Eq. 3-33
𝜔𝑛
60

Using the concept of damped forced harmonic
vibrations, the damping mechanisms of a structure
can be determined by bandwidth (half power)
method.
Figure 3-19. Definition of half-power bandwidth response.

(Chopra, 1995) 61
Figure 3-20. Hammering Test Equipment for damping ratio

evaluation. (ONOSOKKI – FFT Application) 62

 The rectangular strip can be expressed
mathematically as
b  a 
2  Eq. 3-34
n
b   a f b  f a
   Eq. 3-35
2n 2 fn
 This only applies for lightly damped structures
*For derivation, look for Dyanamics of Structures by Chopra, 1995: pp. 79-80
63
SAMPLE PROBLEM 3.4

 A forced vibration is carried out on a structure using
an eccentric mass shaker. The acceleration per unit
force are tabulated as shown for different excitation
frequencies. Determine the natural frequency and
damping ratio of the structure.
64
SOLUTION
 Plot the resulting frequency curve vs. response.
Frequency Response
90
80
70
𝑢ሷ 𝑜 /𝑝𝑜 x103 g/kN
60
50
40
30
20
10
0
0 10 20 30 40 50 60 70
w, rad/s
65
SOLUTION
 Extract the angular frequency and the

corresponding maximum response.
Frequency Response
90
𝑢 ሷ_𝑜∕𝑝_𝑜 =78.413 g/kN
80
70
60
50
40
30
20
10
𝜔_𝑛 =30.5 rad/s
0
0 10 20 30 40 50 60 70
w, rad/s
66
SOLUTION
 Solve for the root-mean square amplitude of
the curve
𝑢
= 55.446 𝑥 103 𝑔/𝑘𝑁
2
 Plot to the corresponding curve the RMS

amplitude and extract the two excitation
frequencies.
67
SOLUTION
Frequency Response
90
𝑢ሷ 𝑜 ∕ 𝑝𝑜 =78.413 g/kN
80
70
60 𝜔_𝑎=28.8 rad/s 𝜔_𝑏=32.9 rad/s

50
40
30
20
10
𝜔𝑛 =30.5 rad/s
0
0 10 20 30 40 50 60 70
w, rad/s
68
SOLUTION
 Solve for the natural frequency
𝜔𝑛 30.5
𝑓𝑛 = = = 4.854 𝐻𝑧
2𝜋 2𝜋
 Solve for the damping ratio
𝜔𝑏 − 𝜔𝑎 32.9 − 28.8
𝜁= = = 6.72%
2𝜔𝑛 2(30.50)
69
3.6. VIBRATION ISOLATION

As engineers, we are
concerned in the reduction of
the effects of dynamic forces
that are transmitted by the
vibrating structure to the
vibration - sensitive
equipment.
Such a problem is called a

motion isolation problem.
Figure 3-21. Vibration-sensitive

70
equipments.

Likewise, we are also
concerned in the reduction of
the effects of dynamic forces
that are transmitted by the
machines to the supporting
structure or its environment.
Such a problem is called a

force isolation problem.
Figure 3-22. Machines mounted on

71
concrete pedestals.
Figure 3-23. Vibration isolation for (a) machine vibration

and (b) base vibration. (Paultre, 2010).
72

 The solution to the motion isolation problem is by
connecting a spring and damper suspension between
the moving superstructure and the vibration-sensitive
equipment.
Figure 3-24. Spring and damper suspension

depending on the degree of support needed. 73

 The solution to the force isolation problem is by
connecting a suspension system between the
vibrating machine to the supporting structure or
foundation.
Figure 3-25. Spring and damper suspension depending on

the degree of support needed. 74
3.6.1. RESPONSE TO SUPPORT MOTION
 Consider a typical structure subjected to

support excitation u g  u go sin t
u g (t )  u go sin t
u (t )
k
m
c
Figure 3-26. Model of a structure subjected to support

displacement. (Chopra, 1995)
75
 From the kinetic diagram,

 F x  mut   cut  u g   k ut  u g   mut Eq. 3-36
mut  cut  u g   k ut  u g   0 Eq. 3-37
mut  cut  kut  cu go cos t  ku go sin t Eq. 3-38
 Rewriting the equation yields

mut  cut  kut  Fo sin t    Eq. 3-39
where:
F0  u go k 2  c   ku go 1  2  / n 
2 2
c Eq. 3-40
tan    2  / n 
k 76
 The differential equation of motion is similar to

that of the harmonic damped vibration.
 The steady-state response of the structure
subjected to support excitation is
𝑝𝑜
𝑢𝑡 𝑡 = 𝑅𝑑 sin 𝜔𝑡 + 𝛽 − 𝜙 Eq. 3-41
𝑘
 Obtaining the ratio of the total response to the
amplitude of support displacement,
𝑢𝑡 𝑝𝑜 1 + 2𝜁 𝜔Τ𝜔𝑛 2
= 𝑅𝑑 = Eq. 3-42
𝑢𝑔𝑜 𝑘𝑢𝑔𝑜 1 − 𝜔Τ𝜔𝑛 2 2 + 2𝜁 𝜔Τ𝜔𝑛 2
77
 We define this ratio as Transmissibility (TR), or

the degree of force transmission of the support
to the structure
1 + 2𝜁 𝜔Τ𝜔𝑛 2
𝑇𝑅 = Eq. 3-43
1 − 𝜔Τ𝜔𝑛 2 2 + 2𝜁 𝜔Τ𝜔𝑛 2
 This is important for vibration isolation, an

engineered way of protecting equipments from
any source of vibrations.
CLICK ME
78
Figure 3-27. Behavior of transmissibility as a function of

freqency ratio and damping ratio. (Paz and Leigh, 2004)
79
SAMPLE PROBLEM 3.5
A cantilevered water tank with a weight of

103.6 kN is subjected to a harmonic lateral
ground acceleration of 0.20g at a frequency
of 10 Hz. Free vibration test reveals that a
lateral force of 360 kN produces a static
deformation of 5 cm. Assuming a damping
ratio of 10%, determine the motion of the tank
with respect to the base.
80
SAMPLE PROBLEM 3.6
 The columns of the u (t )

structure below has a
constant flexural
rigidity of 2 x 1013 N- 4m
mm2. The damping

8m
ratio is 25%. The
structure is subjected
to a harmonic ground ug(t) = 0.25 sin 2πt m
motion as shown. Figure 4-28. Sample Problem 3.6
81
SAMPLE PROBLEM 3.6
 The mass at level of the girder is 3600 kg.

Determine the a) transmissibility, b) maximum
shear force in the columns, and c) maximum
dynamic stress in the column if S = 10 x 106
mm3. Assume that the beam is infinitely rigid.
82
3.6.2. FORCE TRANSMITTED TO THE FOUNDATION
 Consider a harmonic excitation as previously

discussed
u (t )
k
c
Figure 3-1. Damped Forced Vibration Model
83
3.6.2. FORCE TRANSMITTED TO THE FOUNDATION

u(t )  ust o Rd sin t    Eq. 3-23
Where:
ust o  Fo Rd 
1
k 1  r   2r 
2 2 2
Eq. 3-24
 2 r
r
n   tan 1  B / A  tan 1
1 r 2
84
3.6.2. FORCE TRANSMITTED TO THE

FOUNDATION
 The force transmitted FT by the vibrating mass
to the support of the structure is composed of
spring force and damping force.
FT  f s  f d  ku  cu Eq. 3-44
Rd k sin t     c cost   

Fo

k
Eq. 3-45
Figure 4-29. Model of the support subjected

to harmonic vibration. (Chopra, 1995) 85
3.6.2. FORCE TRANSMITTED TO THE

FOUNDATION
 The force transmitted FT by the vibrating mass
to the support of the structure is composed of
spring force and damping force.
Rd k 2  c  sin t   

F0
FT 
2
Eq. 3-46
k
Fo 1  2  / n 
2
FTO 
1   /     2  /  
n
2 2
n
2 Eq. 3-47
Figure 4-29. Model of the support subjected

to harmonic vibration. (Chopra, 1995) 86
3.6.2.FORCE TRANSMITTED TO THE FOUNDATION
 We obtain the ratio of the amplitude of the

force transmitted to the foundation to the
amplitude of the unbalanced forced:
1  2  / n 
2
FTO
  TR Eq. 3-48
Fo 1   /     2  /  
n
2 2
n
2
 It can be concluded the two cases of vibration

isolation problem are the same concept of
transmission of forces.
87
SAMPLE PROBLEM 3.7
A rotating machine having a total mass of 200 kg is

supported by four isolators on a rigid floor. The total
stiffness of the isolators is 1000 kN/m. When
operating, the machine generates a vertical
harmonic force with an amplitude of 450N at a
rotation frequency of 50 Hz. Assuming that the
damping is 𝜁 = 0.20, check that the amplitude of
motion does not exceed the allowable amplitude of
0.03mm and that the force that is transmitted to the
floor does not exceed the allowable force of 50 N.
88
Engr. JJCA / 2nd Semester, AY 2014-2015 7/18/2019 2:48:53 PM
REFERENCES
 Paultre, P. (2012). Dynamics of Structures.

John Wiley & Sons, Inc.
 Chopra, A. K. (1995) Dynamics of Structures:
Theory and Applications to Earthquake
Engineering. Prentice-Hall.
 Zafra, Richelle G. CE 137 Structural Dynamics
and Earthquake Engineering Lecture Notes.
University of the Philippines – Los Baños.
89
Engr. JJCA / 2nd Semester, AY 2014-2015 7/18/2019 2:48:53 PM
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Chapter 3 – Forced Vibration of SDOF Systems

CE 137 – STRUCTURAL DYNAMICS AND

3.1. Undamped Forced Vibration

3.1. UNDAMPED FORCED VIBRATION

 A harmonic load is a type of load that exhibits

3.1. UNDAMPED FORCED VIBRATION

Consider a harmonic excitation 𝑝 𝑡 = 𝐹𝑜 sin 𝜔𝑡

3.1. UNDAMPED FORCED VIBRATION

Consider a harmonic excitation 𝑝 𝑡 = 𝐹𝑜 sin 𝜔𝑡

Figure 3-1. Forced Vibration Model

3.1. UNDAMPED FORCED VIBRATION

Consider a harmonic excitation 𝑝 𝑡 = 𝐹𝑜 sin 𝜔𝑡

Figure 3-1. Forced Vibration Model.

The equation of motion for forced vibration is given by

3.1. UNDAMPED FORCED VIBRATION

 The solution to differential equation is a sum of

3.1. UNDAMPED FORCED VIBRATION

 The general solution to the differential equation

𝑢𝑐 𝑡 = 𝑐1 cos 𝜔𝑛 𝑡 + 𝑐2 sin 𝜔𝑛 𝑡 Eq. 3-4

 The particular solution (using MUC) due to the

3.1. UNDAMPED FORCED VIBRATION

 Evaluating the initial boundary coonditions 𝑢 =

3.1. UNDAMPED FORCED VIBRATION

 Steady-state vibration (particular solution)

 Transient vibration (general solution)

3.1. UNDAMPED FORCED VIBRATION

Figure 3-2. Harmonic Force

Figure 3-3. Response due to

3.1. UNDAMPED FORCED VIBRATION

 If u (0)  u (0)  0, the equation simplifies to

 In reality, transient response decays with

3.1. UNDAMPED FORCED VIBRATION

 If we neglect the dynamic effects of the object

 The maximum response of the static

3.1. UNDAMPED FORCED VIBRATION

 We may rewrite the steady-state response as

 00 if F(t) and u(t) have the same direction

3.1. UNDAMPED FORCED VIBRATION

 Other terms used are Dynamic Magnification

3.1. UNDAMPED FORCED VIBRATION

 Notes on Dynamic Response Factor

UNDAMPED FORCED VIBRATION

 The term  is called the phase angle.

UNDAMPED FORCED VIBRATION

UNDAMPED FORCED VIBRATION

 What happens when the forcing frequency is

 The solution in Eq. 3-6 is not valid anymore.

 Resonance – occurs when the forcing

 The solution to the differential equation

u (t )   u st o nt cos nt  sin nt 

 Two ways to determine the response of SDOF

 Here are some real-life examples of

 Barton’s Pendulum CLICK ME

Figure 3-5. Response of structure under resonance

SAMPLE PROBLEM 3.1

3.3. DAMPED FORCED VIBRATION

 Consider a harmonic excitation 𝑝 𝑡 = 𝑝𝑜 sin 𝜔𝑡

Figure 3-1. Forced Vibration Model. (Paultre, 2010)