Chapter 3 - Forced-Vibrations

Mechanical Vibrations
Single Degree of Freedom Systems:

Harmonically Excited Vibrations
Book:
Mechanical Vibrations, by S.S. Rao, 6th Edition,
Chapter 3
Section Outline
• Introduction
• Response of an Undamped System under Harmonic Force
• Response of Damped System under Harmonic Force
• Response of a Damped System under Harmonic motion of
the Base
• Response of a Damped System under Rotating Unbalance
• Self Excitation and Stability Analysis
Introduction
• A system is said to undergo forced vibration whenever external energy is
supplied to the system during vibration
• External energy can be in the form of
• Applied force
• Imposed displacement excitation
• External energy may be
• harmonic
• nonharmonic but periodic
• nonperiodic or random in nature
• The response of a system to a harmonic excitation is called harmonic response
• In this section, we will limit our study to only harmonically excited external
sources
Introduction
• In harmonically excited system, dynamic response of a
SDOF system is analyzed for the force having form
𝐹 𝑡 = 𝐹 𝑒 𝑖(𝜔𝑡+𝜙) or 𝐹 𝑡 = 𝐹𝑜 cos(𝜔𝑡 + 𝜙) or 𝐹 𝑡 = 𝐹𝑜 sin(𝜔𝑡 + 𝜙)
𝑜
• where 𝐹𝑜 is the amplitude, 𝜔 is the frequency and 𝜙 is the phase angle of the
harmonic excitation.
• The value of 𝜙 depends on the value of 𝐹(𝑡) at 𝑡 = 0 and is usually taken to be
zero
• Under a harmonic excitation, the response of the system will also be
harmonic
• If the frequency of excitation coincides with the natural frequency of the
system, the response will be very large. This condition, is called as
resonance.
Introduction
Equation of Motion
• For viscously damped spring mass system,
EOM with harmonic force input becomes
𝑚 + 𝑐 + 𝑘𝑥 = 𝐹(𝑡)
• This equation is non-homogenous, its general
solution 𝑥(𝑡) is given by the sum of the
homogenous solution, 𝑥 ℎ (𝑡) and the particular
solution, 𝑥 𝑝 (𝑡)
𝑥 𝑡 = 𝑥ℎ 𝑡 + 𝑥 𝑝 (𝑡)
• The homogenous solution, which is the
solution of the homogenous equation
𝑚 + 𝑐 + 𝑘𝑥 = 0
• dies out with time under each of the three
Introduction
Equation of Motion
• Eventually, general solution of the equation
reduces to the particular solution 𝑥𝑝(𝑡), which
represents the steady state vibration
Homogenous
Solution
Particular
Solution
Total Solution
Introduction
Equation of Motion
• The part of the motion that dies out due to
damping (the free-vibration part) is called
transient
• The rate at which the transient motion decays
depends on the values of the system
parameters k, c, and m
Response of an Undamped System Under Harmonic Force
• For the sake of simplicity, we consider an undamped system
subjected to a harmonic force, 𝐹 𝑡 = 𝐹𝑜 cos 𝜔𝑡
𝑚 +𝑐 + 𝑘𝑥 = 𝐹(𝑡)
becomes, 𝑚 + 𝑘𝑥 = 𝐹𝑜 cos 𝜔𝑡
• We know that the homogenous solution of this equation is
given by
𝑥ℎ 𝑡 = 𝐶1 cos 𝜔 𝑛 𝑡 + 𝐶2 sin 𝜔𝑛 𝑡
• where, 𝜔𝑛 = 𝑘/𝑚, is the natural frequency of the
system
• Exciting force 𝐹(𝑡) is harmonic, the particular solution 𝑥𝑝
𝑡
is also harmonic and has the same frequency 𝜔
• We can assume a particular solution in the form
Solution
• Putting value of 𝑥𝑝 𝑡 in the EOM, we get
−𝑚𝑋𝜔2 cos 𝜔𝑡 + 𝑘𝑋 cos
𝜔𝑡 = 𝐹𝑜 cos 𝜔𝑡
• which becomes, −𝑚𝑋𝜔2 + 𝑘𝑋 = 𝐹𝑜
• we can write 𝐹𝑜
𝑋=
𝑘 − 𝑚𝜔2
• so our general solution
𝑥
𝑡
𝐹𝑜
𝑥 𝑡 = 𝐶1 cos 𝜔 𝑛 𝑡 + 𝐶2 sin 𝜔 𝑛 𝑡 cos 𝜔𝑡
𝑘 − 𝑚𝜔 2
= 𝑥
+ initial conditions,
ℎ
• Using 𝑥 𝑡 = 𝑥𝑜 and 𝑡 = 0 =
Solution
• we get 𝐹𝑜
𝐶1 = 𝑥𝑜 − ; 𝐶2 =
𝑘 − 𝑚𝜔 2 𝜔𝑛
• Hence we can write
𝐹𝑜 𝐹𝑜
𝑥 𝑡 = 𝑥𝑜 − cos 𝜔𝑛 𝑡 + sin 𝜔𝑛 𝑡 + cos 𝜔𝑡
𝑘 − 𝑚𝜔 2 𝜔𝑛 𝑘 − 𝑚𝜔 2
• We calculated
𝐹𝑜
𝑋=
𝑘 − 𝑚𝜔2
• which can be written as
𝐹𝑜 𝐹𝑜 𝛿𝑠𝑡
𝑋= = = =
𝑘 − 𝑚𝜔 2 𝐹𝑜 /𝑘2
𝑚𝜔 𝜔2 𝜔2
𝑘(1 − 𝑘 ) (1 − 𝑘/𝑚 ) (1 − 2𝑛)
𝜔
• Quantity 𝛿𝑠𝑡 = 𝐹𝑜 /𝑘 is the deflection of the mass under a force 𝐹𝑜
and is sometimes called static deflection because 𝐹𝑜 is a constant
Solution
• Thus we get, 𝑋 𝛿 𝑠𝑡
𝜔 2
(1− )
= 𝜔𝑛
𝑋 1
• That can be written as, 𝜔 2
(1− )
= 𝛿 𝑠𝑡
𝜔𝑛
• Quantity 𝑋/𝛿𝑠𝑡 represents the ratio of
the dynamic to the static amplitude
of the motion, also called the
magnification factor, amplification
factor, or amplification ratio.
• The value of magnification factor is
dependent on frequency ratio r =
𝜔/𝜔𝑛
• System response can be studied for
three distinct cases
Case 1
• When 𝟎 < 𝝎/𝜔𝑛 < 𝟏
• Denominator of magnification factor
𝑋 1
= 𝜔 2
, is positive
𝛿 𝑠𝑡 (1− )
𝜔𝑛
• Response is given by 𝑥𝑝 𝑡 = 𝑋 cos
without change 𝜔𝑡
• Harmonic response of the system
𝑥𝑝 𝑡 is in phase with the
external
force
SDOF: Harmonically Excited Vibrations

Case 2
• When 𝟎 > 𝝎/𝜔𝑛 > 𝟏
• Denominator of magnification factor
𝑋 1
= 𝜔 2
, is negative
𝛿 𝑠𝑡 (1− )
𝜔𝑛
• Response is given by 𝑥𝑝 𝑡 = −𝑋 cos
• The amplitude of motion 𝑋𝜔𝑡 is redefined
to be a positive quantity as
𝑋= 𝛿𝑠𝑡
𝜔 2
−1
𝜔𝑛
• 𝑥𝑝 𝑡 have opposite signs and
are 𝐹 𝑡to be 180o out of phase
andsaid
• Further 𝝎/𝜔𝑛 → ∞ , 𝑋 → 0.
• Thus the response of the system to a harmonic force of very
high frequency is close to zero
Case 3
• When 𝝎/𝜔𝑛 = 𝟏
𝑋 1
• = 𝜔 2 , becomes
𝛿 𝑠𝑡 (1− )
infinite 𝜔𝑛
• The condition is known as resonance
• To find response for this condition, we rewrite
𝐹𝑜 𝐹𝑜
𝑥 𝑡 = 𝑥𝑜 − cos 𝜔𝑛 𝑡 + sin 𝜔𝑛 𝑡 + cos 𝜔𝑡
𝑜 𝐹𝑜
As, 𝑥 𝑡 = 𝑥𝑜 cos 𝜔𝑛𝑡 + sin 𝜔𝑛 𝑡 + cos 𝜔𝑡 − cos 𝜔𝑛 𝑡
𝜔𝑛 𝑘 −𝑚 𝜔
2
• Previously we have shown that

𝐹𝑜
𝛿𝑠𝑡
=𝑋= 2
𝑘− 𝑚𝜔2 (1 − 𝜔ൗ )
𝑜 𝛿𝜔𝑠𝑡 cos 𝜔𝑡 − cos 𝜔𝑛𝑡
⇒ 𝑥 𝑡 = 𝑥𝑜 cos 𝜔𝑛𝑡 + sin 𝜔𝑛 𝑡 + 𝑛 2
𝜔𝑛 (1 − ��𝜔𝑛 )
Case 3
• Since the last term takes an indefinite form when 𝝎 = 𝜔𝑛, we apply
L’Hospital’s rule to evaluate the limit of this term
𝑑
cos 𝜔𝑡 − cos 𝜔 𝑡
cos 𝜔𝑡 − cos 𝜔𝑛 𝑡 𝑛
lim = lim 𝑑𝜔
𝜔 →𝜔 𝑛 �� 2 𝜔 →𝜔 𝑛 𝑑 2
1− 1 − ��𝜔𝑛
𝑛 𝑑𝜔
ൗ 𝑡 sin 𝜔𝑡 𝜔𝑛 𝑡
lim𝜔 = sin 𝜔 𝑡 ൗ
𝜔 →𝜔 𝑛 2 𝜔 2 𝑛
ൗ
𝑛
Finally the response of the system
𝜔2 at resonance becomes
𝑜 𝛿𝑠𝑡 𝜔𝑛 𝑡
𝑥 𝑡 = 𝑥𝑜 cos 𝜔𝑛𝑡 + sin 𝜔𝑛 𝑡 + sin 𝜔𝑛 𝑡
𝜔𝑛 2

Case 3
𝑜 𝛿𝑠𝑡 𝜔𝑛 𝑡
𝑥 𝑡 = 𝑥𝑜 cos 𝜔𝑛𝑡 + sin 𝜔𝑛 𝑡 + sin 𝜔𝑛 𝑡
𝜔𝑛 2
Total Response
• For(𝜔/𝜔𝑛 ) 𝑥 𝑡 = 𝐴 cos(𝜔𝑛 𝑡 − 𝜙) 𝛿 𝑠𝑡
𝜔 2 cos 𝜔𝑡
1−
< 1, + 𝜔𝑛
• For(𝜔/𝜔𝑛 ) 𝑥 𝑡 = 𝐴 cos(𝜔𝑛 𝑡 − 𝜙) 𝛿 𝑠𝑡
𝜔 2 cos 𝜔𝑡
−1+
> 1, − 𝜔𝑛
Section Outline
• Introduction
• Response of an Undamped System under Harmonic Force
• Beating Phenomenon
• Response of Damped System under Harmonic Force
• Response of a Damped System under Harmonic motion of
the Base
• Response of a Damped System under Rotating Unbalance
• Self Excitation and Stability Analysis

Beating Phenomenon
• If the forcing frequency is close to, but not exactly equal to, the
natural frequency of the system, a phenomenon known as beating
may occur
• In this kind of vibration, the amplitude builds up and then
diminishes
in a regular pattern
• The solution for𝐹𝑜beating phenomenon can be obtained 𝐹𝑜by
𝑥 𝑡considering
= 𝑥𝑜 − cos 𝜔𝑛 𝑡 + sin 𝜔𝑛 𝑡 + cos 𝜔𝑡
• For 𝑥𝑜 = 𝑜 = 0, above equation

reduces to𝑥 𝑡 = − 𝐹𝑜 𝐹𝑜
cos 𝜔𝑛 𝑡 cos 𝜔𝑡
𝑘 − 𝑚𝜔 + 2 𝑘 − 𝑚𝜔 2
𝑥 𝑡 = 𝐹 𝑜 Τ𝑚 cos 𝜔𝑡 − cos 𝜔𝑛𝑡

𝜔𝑛2 − 𝜔 2
𝐹 Τ 𝑚 𝜔 + 𝜔𝑛 𝜔𝑛 − 𝜔
𝑥 𝑡 = 2 𝑜 2 sin 𝑡. sin 𝑡
𝜔𝑛 − 𝜔2 2 2
Beating Phenomenon
𝐹 Τ 𝑚 𝜔 + 𝜔𝑛 𝜔𝑛 − 𝜔
𝑥 𝑡 = 2𝑜 2 sin 𝑡. sin 𝑡
𝜔𝑛 − 𝜔2 2 2
• Let the forcing frequency 𝜔 be slightly less than the natural frequency
𝜔𝑛 − 𝜔 = 2𝜖
• where 𝜖 is a small positive quantity. Then 𝜔𝑛 ≈ 𝜔
⇒ 𝜔𝑛 + 𝜔 = 2𝜔
• Multiplication of above equation gives
𝜔𝑛2 − 𝜔2 = 4𝜖𝜔
• Putting values in above equation yields following
solution 𝐹 Τ𝑚
𝑥 𝑡 = 𝑜 sin 𝜖𝑡 sin 𝜔𝑡
2𝜖𝜔
• Since 𝜖 is small, the function sin 𝜖𝑡 varies slowly; its period, equal to
2𝜋/𝜖 is large.
• Above solution can be seen as representing vibration with period
𝑜Τ𝑚
2𝜋/𝜔 and of variable amplitude equal to 𝐹2𝜖𝜔 sin 𝜖𝑡
Beating Phenomenon
𝑥 𝑡 = 𝐹𝑜 Τ𝑚 sin 𝜖𝑡 sin 𝜔𝑡
2𝜖𝜔
• It can also be observed that the curve will go through several cycles,
while the wave goes through a single cycle
• Thus the amplitude builds up and dies down continuously.
• The time between the points of zero amplitude is called the period of
beating and is given by 𝜏𝑏 = 2𝜋/2𝜖 = 2𝜋/(𝜔𝑛 − 𝜔)
• Frequency of beating as, 𝜔𝑏 = 2𝜖 = 𝜔𝑛 − 𝜔
Response of a Damped System Under Harmonic Force
• If the forcing function is given by 𝐹 𝑡 = 𝐹𝑜 cos 𝜔𝑡, the EOM becomes
𝑚 + 𝑐 + 𝑘𝑥 = 𝐹𝑜 cos 𝜔𝑡
• The particular solution is also expected to be harmonic; we assume it as
𝑥𝑝 𝑡 = 𝑋 cos(𝜔𝑡 − 𝜙)
• where X and 𝜙 is amplitude and phase lag of the response i.e.
displacement
vector lags the force vector by 𝜙,
𝑡 = −𝑋𝜔 sin 𝜔𝑡 − 𝜙 = 𝑋𝜔 cos(𝜔𝑡 − 𝜙 + 𝜋
)
𝑡 = −𝑋𝜔 sin 𝜔𝑡 − 𝜙
2 2
• By substituting 𝑥𝑝 in EOM, we get = 𝑋𝜔 cos 𝜔𝑡 − 𝜙 + 𝜋
2
𝜋
𝑚𝑋𝜔 cos 𝜔𝑡 − 𝜙 + 𝜋
2 + 𝑐𝑋𝜔 cos 𝜔𝑡 − 𝜙 + + 𝑘𝑋 cos 𝜔𝑡 = 𝐹𝑜 cos 𝜔𝑡
−𝜙2
• From vector diagram of these forces, we have
𝐹𝑜2 = 𝑘𝑋 − 𝑚𝑋𝜔2 2 + 𝑐𝑋𝜔 2
𝐹𝑜2 = 𝑋 2 𝑘 − 𝑚𝜔2 𝑐𝜔 2
2+
𝐹𝑜 𝑐𝜔
𝜙 = tan−1
⇒𝑋= ; 𝑘 − 𝑚𝜔2
�
�
• Thus particular or steady state solution of the equation
becomes 𝐹𝑜
𝑥𝑝 𝑡 = cos(𝜔𝑡 − 𝜙)
2
𝑘 − 𝑚𝜔2 2 +
𝑐𝜔
• Now consider
𝐹𝑜
𝑋=
𝑐𝜔 2
𝑘 − 𝑚𝜔2 2+
Which can be simplified to

𝐹𝑜 𝐹𝑜 /
𝑋= =
2
𝑘 2
𝑘 2 1 − 𝑚𝜔 /𝑘 2 + 𝑐𝜔/𝑘 2𝜁𝑚𝜔𝑛𝜔/𝑘
2
1− 𝜔Τ𝜔𝑛 2 2 +
𝑋 1
=
2
𝛿𝑠𝑡 2 2+
1 − 𝜔Τ𝜔𝑛 2𝜁 𝜔Τ𝜔 𝑛
Where, 𝛿𝑠𝑡 = 𝐹𝑜/𝑘 𝑐 = 𝑐𝑐𝜁 = 2𝑚𝜔𝑛𝜁 𝜔𝑛 =
• Putting 𝑟 = 𝜔/𝜔𝑛, We finally get 𝑘Τ𝑚

𝑋 = 1
𝛿 ; 𝜙
2𝜁𝑟= tan
−1
𝑠𝑡
1 − 𝑟2 2 + 2𝜁𝑟 2
1 − 𝑟2
𝑋 1
=
𝛿𝑠𝑡 1 − 𝑟2 2+ 2𝜁𝑟 2
• For (𝜁 = 0), magnification factor
(M) reduces to an undamped case
• Any amount of damping reduces 𝑋 1
=
the M for all values of the forcing
𝛿𝑠𝑡 1 − 𝑟2 2𝜁𝑟 2
frequency. 2+
• For any specified value of r, a
higher value of damping reduces
the value of M.
• In the case of a constant force
(when r=0), the value of M=1
• The reduction in M in the presence
of damping is very significant at or
near resonance.
• The amplitude of forced vibration
becomes smaller with increasing
values of the forcing frequency
(that is, 𝑀 → 0 as 𝑟 → ∞)
• For 0 < 𝜁 < 1/ 2, the
maximum
value of M occurs when 𝑋 1
=
• which
𝑟 = can1 be seen
− 2𝜁 2 orto
𝜔be= lower
𝜔𝑛 1 than
− 𝛿𝑠𝑡 2𝜁𝑟 2
1 − 𝑟2 2+
the
2𝜁2 undamped natural frequency
and the damped natural frequency
• The maximum value of X (when
𝑟= 1 − 2𝜁 2 ) is given by
𝑋 1
=
𝛿𝑠𝑡 𝑚 𝑎 𝑥 2𝜁 1 − 𝜁 2
• Eq can be used for the experimental
determination of the measure of
damping present in the system.
• In a vibration test, if the maximum
amplitude of the response is
measured, the damping ratio of the
system can be found using Eq.
𝑋 1
=
𝛿𝑠𝑡 𝑚𝑎𝑥 2𝜁 1 − 𝜁 2 𝑋 1
• Conversely, if the amount of =
damping is known, one can make 𝛿𝑠𝑡 1 − 𝑟2 2+ 2𝜁𝑟 2
an estimate of the maximum
amplitude of vibration.
• The value of X at 𝜔 = 𝜔𝑛by
𝑋 1
=
2𝜁
𝛿𝑠𝑡 𝜔 =𝜔 𝑛
𝑑𝑀
• For 𝜁 = 1/ 2, 𝑑𝑟
= 0 when 𝑟 = 0.
For 𝜁 > 1/ 2, the graph of M
monotonically decreases with
increasing values of r.
• For an undamped system (𝜁 = 0), the
phase angle is 0 for 0 < 𝑟 < 1 and 180° 2𝜁𝑟
for 𝑟 > 1, implying that the excitation 𝜙= tan−1
1 − 𝑟2
and response are in phase for 0 < 𝑟 < 1
and out of phase for 𝑟 > 1 when 𝜁 = 0
• For 𝜁 > 0 and 0 < 𝑟 < 1, the phase angle
is given by 0 < 𝜙 < 90°, implying that
the response lags the excitation.
• For 𝜁 > 0 and r > 1, the phase angle is
given by by 90° < 𝜙 < 180°, implying
that the response leads the excitation.
• For 𝜁 > 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°.
• For 𝜁 > 0 and large values of r, the phase
angle approaches 180°, implying that the
response and the excitation are out of
phase.
Force Vibration Vector Diagrams
𝝎 𝝎 𝝎
≪𝟏 =𝟏 ≫𝟏
𝝎𝒏 𝝎𝒏 𝝎𝒏
exciting force exciting force equal to exciting force nearly
approximately equal to damping force, and inertia equal to inertia force
spring force force equal to spring
force
cX𝜔 cX𝜔
cX𝜔
kX kX kX
mX𝜔2 mX𝜔2
𝜙 𝜔𝑡
𝜙
𝐹𝑜
𝜙 mX𝜔2
𝜔𝑡 𝜔𝑡
𝐹𝑜 𝐹𝑜

Total Response
• Complete or general solution is given by
𝑥 𝑡 = 𝑥ℎ 𝑡
+ 𝑥𝑝 𝑡
• We know that 𝑥ℎ 𝑡 for damped SDOF system is given
by
𝑥ℎ 𝑡 = 𝑋 𝑜 𝑒 − 𝜁 𝜔 𝑛 𝑡 cos(𝜔𝑑𝑡 − 𝜙𝑜)
• Where,
• So𝜔total response becomes 𝐹 𝑐𝜔
𝑑 =
21
𝑜 𝜙 = tan −1
2
−𝜁 𝑥𝜔𝑛𝑡 𝑋
= 𝑋𝑜 𝑒= − 𝜁 𝜔 𝑛 𝑡 cos(𝜔 𝑑𝑡 − 𝜙 ) + 𝑋 cos(𝜔𝑡 − 𝑘 − 𝑚𝜔
2𝑜
𝑘 − 𝑚𝜔2 2 +
𝑐𝜔 𝜙)
• What about 𝑋𝑜 and 𝜙𝑜??
• To be evaluated from initial conditions for the given general
solution
𝑥 0 = 𝑥0 = 𝑋0 cos 𝜙0 + 𝑋 cos 𝜙
𝑡
= 𝑋0 −𝜁𝜔 𝑛 𝑒 −𝜁 𝜔 𝑛 𝑡 cos 𝜔 𝑑 𝑡 − 𝜙𝑜 − 𝑒 − 𝜁 𝜔 𝑛 𝑡 𝜔 𝑑 sin 𝜔 𝑑 𝑡 −
− 𝑋𝜔 sin(𝜔𝑡 − 𝜙) 𝜙
Total Response
𝑡
= 𝑋0 −𝜁𝜔 𝑛 𝑒 −𝜁 𝜔 𝑛 𝑡 cos 𝜔 𝑑 𝑡 − 𝜙𝑜 − 𝑒 − 𝜁 𝜔 𝑛 𝑡 𝜔 𝑑 sin 𝜔 𝑑 𝑡 −
− 𝑋𝜔 sin(𝜔𝑡 − 𝜙) 𝜙𝑜
0 = 0 = −𝜁𝜔𝑛𝑋0 cos 𝜙0 + 𝜔𝑑𝑋0 sin 𝜙0 + 𝜔𝑋 sin 𝜙
The solution of above equations will give
1
2
1 2
2
𝑋0 = 𝑥0 − 𝑋 cos 𝜙 + 𝜁𝜔𝑛𝑥0 + 𝑥ሶ − 𝜁𝜔 𝑛 𝑋 cos 𝜙𝑜 − 𝜔𝑋

𝜔𝑑2
sin 𝜙 𝜙0 = tan−1 𝜁𝜔𝑛𝑥0 + 𝑥ሶ − 𝜁𝜔 𝑛 𝑋 cos 𝜙0 − 𝜔𝑋 sin 𝜙
𝜔 (𝑥 − 𝑋 cos 𝜙)
𝑑 0

• Sometimes the base or support of a
spring-mass-damper system
undergoes harmonic motion
• Let 𝑦(𝑡) denote the displacement of
the base and x(t) the displacement of
the mass from its static equilibrium
position at time t.
• Then the net elongation of the spring
is (𝑥 − 𝑦) and the relative velocity
between the two ends of the damper
is
(− )
• From the free-body diagram shown,
we obtain the equation of motion:
𝑚 + 𝑐( − )+ k (𝑥 − 𝑦)= 0
𝑚 + 𝑐( − )+ k (𝑥 − 𝑦)= 0
• If 𝑦 𝑡 = 𝑌 sin 𝜔𝑡, we get
𝑚+ 𝑐 + k 𝑥 = ky + c = 𝑘𝑌 sin 𝜔𝑡 + 𝑐𝜔𝑌 cos 𝜔
= 𝐴 sin(𝜔𝑡 − 𝛼) 𝑐𝜔
2
• where 𝐴 = 𝑌 𝑘2 + 𝛼 = 𝑡𝑎𝑛−1 𝑘−
𝑐𝜔
• This shows that giving excitation to the base is equivalent to applying
a harmonic force of magnitude A to the mass.
• Steady state/particular solution is given by
𝐹 𝑜
𝑥𝑝 𝑡 = sin(𝜔𝑡 − 𝜙1 )
𝑐𝜔 2
𝑘 − 𝑚𝜔2 2+
which can be written as

𝑐𝜔 2
𝑌
𝑥𝑝 𝑡 sin(𝜔𝑡 − 𝜙1 − 𝛼)
= 𝑐𝜔 2
𝑘−
𝑘 2𝑚𝜔
+
2
2+
𝑐𝜔
where 𝜙1 = tan−1
𝑘 −𝑚 𝜔 2
2
𝑌 𝑘2 +
𝑥𝑝 𝑡 = 𝑐𝜔 sin(𝜔𝑡 − 𝜙1 − 𝛼)
2
𝑘 − 𝑚𝜔2 2 +
𝑐𝜔
• Using trigonometric identities, 𝑥𝑝 𝑡 can be
written as
• where 𝑥𝑝 𝑡 =𝑋
𝑋 sin(𝜔𝑡 −
𝑘2 + 2 𝜙) 1 + 2𝜁𝑟 2
= =
𝑌 𝑘 − 𝑐𝜔
𝑚𝜔2 2 +
𝑐𝜔 2 1 − 𝑟 2 2 + 2𝜁𝑟 2
and
𝑚𝑐𝜔 3 2𝜁𝑟 3
𝜙 = tan−1 2 2 = tan−1
𝑘 𝑘 − 𝑚𝜔 + 𝜔𝑐 1 + 4𝜁 2 − 1 𝑟 2
• The ratio of the amplitude of the response 𝑥𝑝 𝑡 to that of the
base
motion y(t), 𝑋 = 𝑇𝑑 is called the displacement transmissibility
𝑌
𝑋 1+ 2𝜁𝑟 2 2𝜁𝑟 3
𝑌
= 𝑇𝑑 = 𝜙= tan−1
1−𝑟 2 2+ 2𝜁𝑟 2 1+ 4𝜁 2 −1 𝑟 2

• The value of 𝑇𝑑 is unity at r=0 and close 𝑋 = 𝑇𝑑 = 1+ 2𝜁𝑟 2
to unity for small values of r. 𝑌 1−𝑟 2 2+ 2𝜁𝑟 2
• For an undamped system (𝜁 = 0), 𝑇𝑑 → ∞
at resonance (𝑟 = 1)
• The value of 𝑇𝑑 is less than unity (𝑇𝑑 < 1)
for values of (𝑟 > 2) for any amount of
damping 𝜁
𝜁 at value
• The 𝑟= 2 of 𝑇𝑑is unity for all values of
• 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
• The displacement transmissibility 𝑇𝑑, attains a
maximum for 0 < 𝜁 < 1 at the frequency
ratio 𝑟 = 𝑟𝑚 < 1 given by
1
𝑟𝑚 = 1 + 8𝜁2 − 1
2𝜁
Force Transmitted
• A force F, is transmitted to the base or support due to the
reactions from the spring and the dashpot, which can be
written as
𝐹 = 𝑐( − )+ k (𝑥 − 𝑦)= − 𝑚𝑥
• Using 𝑥𝑝 𝑡 = 𝑋 sin(𝜔𝑡 − 𝜙), we get
𝐹 = mω2𝑋 sin 𝜔𝑡 − 𝜙 =𝐹𝑇sin(𝜔𝑡 − 𝜙)
• where 𝐹𝑇 is the amplitude or maximum value of the
force transmitted to the base given by
1
2 2
𝐹𝑇 1 + 2𝜁𝑟
= 𝑟2
𝑘𝑌 1 − 𝑟 2 2 + 2𝜁𝑟 2
𝐹𝑇
• The ratio 𝑘𝑌 is known as the force
transmissibility.
Relative motion
• If 𝑧 = 𝑥 − 𝑦 denotes the motion of the mass relative to the base, the equation
of motion becomes
𝑚 + 𝑐+ k 𝑧= − 𝑚= 𝑚𝜔2𝑌 sin 𝜔𝑡
• The steady-state solution is given by
𝑚𝜔 2 𝑌 sin(𝜔𝑡 − 𝜙1)
𝑧 𝑡 = 1 = 𝑍 sin(𝜔𝑡 − 𝜙1)
𝑘 − 𝑚𝜔2 2 + 2 2
𝑐𝜔
• where Z, the amplitude of 𝑧(𝑡), can be
expressed
𝑚𝜔 2𝑌
𝑍= 1
2
𝑘 − 𝑚𝜔2 2 + 𝑐𝜔 2
𝑍 𝑟2
=
𝑌 1 − 𝑟 2 2 + 2𝜁𝑟 2
𝑐𝜔 2𝜁𝑟
𝜙1 = tan −1 = tan −1
𝑘 − 𝑚𝜔 2 1 − 𝑟2
• Unbalance in rotating machinery
is one of the main causes of
vibration
• A simplified model of such a
machine
is shown in Fig
• The total mass of the machine is M,
and there are two eccentric masses
m/2 rotating in opposite directions
with a constant angular velocity
• The centrifugal force due to each mass
will cause excitation of the mass M.
• We consider two equal masses m/2
rotating in opposite directions in
order to have the horizontal
components of excitation of the two
masses cancel each other.
• However, the vertical components of
• If the angular position of the masses
is measured from a horizontal
position, the total vertical component
of the excitation is always given by
𝐹 𝑡 = 𝑚𝑒𝜔2 sin 𝜔𝑡
• The equation of motion can be
derived
by the usual procedure
𝑀𝑥ሷ + 𝑐𝑥ሶ + k 𝑥=𝑚𝑒𝜔2 sin 𝜔𝑡
• The solution of this equation will be
identical to previously derived
equation for damped forced vibration,
if we replace m and 𝐹0 by M and 𝑚𝑒𝜔2
respectively
𝑥𝑝 𝑡 = 𝑋 sin(𝜔𝑡
𝑚 𝑒 𝜔 2 − 𝜙)
• Where, 𝑋=
𝑘 −𝑚 𝜔 2 2+ 𝑐 𝜔 2
𝑐𝜔
𝜙 = tan−1
𝑘 − 𝑀𝜔 2
• By defining 𝜁 = 𝑐/𝑐𝑐 and 𝑐𝑐 = 2𝑀𝜔𝑛
𝑀𝑋 𝑟2
=
𝑚𝑒 2
1 − 𝑟2 2+ 2𝜁𝑟
𝜙 = tan−1 2𝜁𝑟
1 − 𝑟2
• 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 • For 0 < 𝜁 < 1/ 2, the maximum of
𝑀𝑋
dangerous amplitudes. 𝑑
MX/me occurs when, 𝑑𝑟 𝑚 𝑒 = 0
• At very high speeds (𝜔 large),
The solution of equation is
is almost
MX/me• unity, and the effect of 1
damping is negligible. 𝑟= >1
1 − 2𝜁2
• Corresponding maximum value
of MX/me is given by
𝑀𝑋 1
=
𝑚𝑒 𝑚𝑎𝑥 2𝜁 1 − 𝜁 2
• Thus the peaks occur to the right
of the resonance value of r=1
• For 𝜁 > 1/ 2, [MX/me] does
not attain a maximum. Its value
grows from 0 at r=0 to 1 at 𝑟 → ∞
• The force transmitted to the
foundation due to rotating
unbalanced force (F) can be found
as
𝐹 𝑡 = 𝑘𝑥 𝑡 + 𝑐𝑥ሶ (𝑡)
• The magnitude (or maximum
value) of F can be
1 +derived
4𝜁 2 𝑟 2 as
𝐹 = 𝑚𝑒𝜔 2
1 − 𝑟 2 2 + 4𝜁 2 𝑟 2
Example 3.1
A reciprocating pump, of mass 75 kg, is mounted at the middle of a steel plate of
thickness 13 mm, width 500 mm, and length 2.5 m, clamped along two edges as
shown in Fig. 3.9. During operation of the pump, the plate is subjected to a
harmonic force, F1t2 = 250 cos 62.8t N. Find
the amplitude of vibration of the plate

Solution to example 3.1
The plate can be modeled as a fixed-fixed beam having Young’s modulus (E) = 200 GPa,
length (l) = 2.5 m, and area moment of inertia (I) = (0.5) (0.013)3 = 9.2 x 108 m4. The bending
stiffness of the beam is given by
The amplitude of harmonic response is given by Eq. (3.6) with F0 = 250 N, m = 75 kg (neglecting
the weight of the steel plate), k = 221.6 x103 N/m, and ω = 62.832 rad/s. Thus Eq. (3.6) gives
The negative sign indicates that the response x(t) of the plate is out of phase with the excitation F(t).
Example 3.3
Find the total response of a single-degree-of-freedom system with m=10 kg, c = 20
N-s/m, k = 4000 N/m, 𝒙𝟎=0.01m and = 𝟎 under the following conditions:
a) An external force 𝑭 𝒕 = 𝑭𝟎 𝒄𝒐𝒔 𝝎𝒕, acts on the system with 𝑭𝟎 = 𝟏𝟎𝟎N and
𝝎 = 𝟏𝟎rad/s
b) Free vibration with 𝑭 𝒕 =𝟎

Solution of Example 3.3
a. From the given data, we obtain
Using the initial conditions, x0 = 0.01 and x0 = 0, Eq. (3.36) yields:
0.01 = X0 cos Φ0 + (0.03326)(0.997785)

or
X0 cos Φ0 = -0.023186 (E.3)
0 = - (0.05)(20) X0 cos Φ0 + X0 (19.974984) sin Φ0 + (0.03326)(10) sin (3.814075°) (E.4)
Substituting the value of X0 cos Φ0 from Eq. (E.3) into (E.4), we obtain
X0 sin Φ0 = - 0.002268 (E.5)
Solution of Eqs. (E.3) and (E.5) yields

X0 = [(X0 cos Φ0 ) + (X0 sin Φ0 )]1/2 = 0.023297 (E.6)
And or
b. For free vibration, the total response is given by
Using the initial conditions x(0) = x0 = 0.01 and 0 , X0 and Φ0 of Eq. (E.8) can be determined as (see
Eqs. (2.73) and (2.75)):
Note that the constants X0 and Φ0 in cases (a) and (b) are very different.
Example 3.5
Figure 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 1200 kg. 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
Solution: The frequency ω of the base excitation can be found by dividing the vehicle speed v km/hr by the length
of one cycle of road roughness:
For n = 20 km/hr, ω = = 5.81778 rad/s
The natural frequency of the vehicle is given by
and hence the frequency ratio r is

The amplitude ratio can be found from Eq. (3.68):
Thus the displacement amplitude of the vehicle is given by
X = 1.100964Y = 1.100964 x 0.05 = 0.055048 m
This indicates that a 5-cm bump in the road is transmitted as a 5.5-cm bump to the chassis and the
passengers of the car. Thus in the present case, the passengers feel an amplified motion
Problem 3.26
Consider a spring-mass-damper system with k=4000 N/m, m = 10kg, and c = 40N- s/m.
Find the steady-state and total responses of the system under the harmonic force
𝑭( 𝒕) = 𝟐𝟎𝟎 𝒄𝒐𝒔𝟏𝟎𝒕 N and the initial conditions 𝒙𝟎=0.1m and = 𝟎

Solution of problem 3.26
𝒙˙𝟎
Example 3.6
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

Solution:
a. The stiffness of the foundation can be found from its static deflection:
k = weight of machine/dst = 3000/0.075 = 40,000 N/m.
At resonance ω = ωn or r = 1, Eq. (3.68) gives
The solution gives ζ = 0.1291.

The damping constant is given by
b. The dynamic force amplitude on the base at r = 1 can be found from Eq. (3.74):
c. The amplitude of the relative displacement of the machine at r = 1 can be obtained from Eq. (3.77):
Problem 3.30
A four-cylinder automobile engine is to be supported on three

shock mounts, as indicated in Fig. 3.46. The engine-block
assembly has a mass of 250 kg. If the unbalanced force
generated by the engine is given by 1000 sin 100 πt N,
design the three shock mounts (each of stiffness k and viscous-

damping constant c) such that the amplitude of vibration is less
than 2.5 mm. Assume ζ = 0.01.
m = 250 kg, F(t) = 1000 sin 100 πt N

Let Xmax = 1 mm ( < 2,5 mm max)
Xmax = δst m
Let = 0.01 Then δst = =
keq =  k = = 1,666,750 N/m
= =  = = 0.01 = 288.68 N.s/m
 c = = 96.23 N.s/m
Problem 3.24
Derive the equation of motion and find the steady-state response of the system
shown in Figure for rotational motion about the hinge O for the following data:
𝒌𝟏 = 𝒌𝟐 = 5000 N/m, a = 0.25 m, b = 0.5 m, l = 1 m,
M = 50 kg, m = 10 kg, 𝑭𝒐= 500 N, 𝝎=1000 rpm
Review Examples: 3.2; Practice Problems: 3.1-3.23

Example 3.7
An electric motor of mass M, mounted on an elastic foundation, is found to vibrate
with a deflection of 0.15 m at resonance. It is known that the unbalanced mass of
the motor is 8% of the mass of the rotor due to manufacturing tolerances used, and
the damping ratio of the foundation is 𝜻 = 𝟎. 𝟎𝟐𝟓. Determine the following
a) the eccentricity or radial location of the unbalanced mass (e),

b) the peak deflection of the motor when the frequency ratio varies from
resonance, and
c) the additional mass to be added uniformly to the motor if the
deflection of the
motor at resonance is to be reduced to 0.1 m.

Solution of Example 3.7
a. From Eq. (3.81), the deflection at resonance 1r = 12 is given by
from which the eccentricity can be found as
b. The peak deflection of the motor is given by Eq. (3.83):
from which the peak deflection can be determined as

c. If the additional mass added to the motor is denoted as Ma, the corresponding deflection is
given by Eq. (3.81):
which yields Ma = 0.5M. Thus the mass of the motor is to be increased by 50% in order to
reduce the deflection at resonance from 0.15 m to 0.10 m.

Chapter 3 - Forced-Vibrations

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Mechanical Vibrations

Single Degree of Freedom Systems:

SDOF: Harmonically Excited Vibrations

• Previously we have shown that

SDOF: Harmonically Excited Vibrations

SDOF: Harmonically Excited Vibrations

• For 𝑥𝑜 = 𝑜 = 0, above equation

𝑥 𝑡 = 𝐹 𝑜 Τ𝑚 cos 𝜔𝑡 − cos 𝜔𝑛𝑡

Which can be simplified to

• Putting 𝑟 = 𝜔/𝜔𝑛, We finally get 𝑘Τ𝑚

SDOF: Harmonically Excited Vibrations

𝑋0 = 𝑥0 − 𝑋 cos 𝜙 + 𝜁𝜔𝑛𝑥0 + 𝑥ሶ − 𝜁𝜔 𝑛 𝑋 cos 𝜙𝑜 − 𝜔𝑋

SDOF: Harmonically Excited Vibrations

which can be written as

SDOF: Harmonically Excited Vibrations

the amplitude of vibration of the plate

SDOF: Harmonically Excited Vibrations

0.01 = X0 cos Φ0 + (0.03326)(0.997785)

0 = - (0.05)(20) X0 cos Φ0 + X0 (19.974984) sin Φ0 + (0.03326)(10) sin (3.814075°) (E.4)

X0 sin Φ0 = - 0.002268 (E.5)

Solution of Eqs. (E.3) and (E.5) yields

the displacement amplitude of the vehicle.

For n = 20 km/hr, ω = = 5.81778 rad/s

The natural frequency of the vehicle is given by

and hence the frequency ratio r is

Thus the displacement amplitude of the vehicle is given by

X = 1.100964Y = 1.100964 x 0.05 = 0.055048 m

SDOF: Harmonically Excited Vibrations

SDOF: Harmonically Excited Vibrations

At resonance ω = ωn or r = 1, Eq. (3.68) gives

The solution gives ζ = 0.1291.

A four-cylinder automobile engine is to be supported on three

design the three shock mounts (each of stiffness k and viscous-

m = 250 kg, F(t) = 1000 sin 100 πt N

Let = 0.01 Then δst = =

keq =  k = = 1,666,750 N/m

= =  = = 0.01 = 288.68 N.s/m

Review Examples: 3.2; Practice Problems: 3.1-3.23

a) the eccentricity or radial location of the unbalanced mass (e),

SDOF: Harmonically Excited Vibrations

from which the eccentricity can be found as

b. The peak deflection of the motor is given by Eq. (3.83):

from which the peak deflection can be determined as

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