Mechanical Vibrations

Mechanical Vibrations
(ME 421)
Section 4
Single Degree of Freedom Systems:
Harmonically Excited Vibrations
Book:
Mechanical Vibrations, by S.S. Rao, Fifth Edition,
Chapter 3
Instructor: Muhammad Haider

SDOF: Harmonically Excited Vibrations
Course Contents
S.No.
Description
1.
Basic Concepts
2.
Harmonic Motion, Complex Algebra and Fourier Series
3.
Single Degree of Freedom Systems: Free Vibrations
4.
5.
6.
Single Degree of Freedom Systems: Harmonically Excited

Vibrations
Two Degree of Freedom Systems: Natural Frequencies and Mode
Shapes
Two Degree of Freedom Systems: Coupling, Orthogonality and
Forced Response
7.
Multi Degree of Freedom Systems
8.
Lagrangian Method
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
= (+) or = cos( + ) or = sin( + )
where is the amplitude, is the frequency and is the

phase angle of the harmonic excitation.
The value of depends on the value of () at = 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
+ + = ()
This equation is non-homogenous, its general
solution () is given by the sum of the
homogenous solution, () and the particular
solution, ()
= + ()
The homogenous solution, which is the
solution of the homogenous equation
+ + = 0
dies out with time under each of the three
possible conditions of damping
Introduction
Equation of Motion
Eventually, general solution of the equation
reduces to the particular solution (), 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, = cos
+ + = ()
becomes,
+ = cos
We know that the homogenous solution of this equation is
given by
= 1 cos + 2 sin
where, =
/, is the natural frequency of the system
Exciting force () is harmonic, the particular solution

is also harmonic and has the same frequency
We can assume a particular solution in the form
= cos
where , is the maximum amplitude of

Solution
Putting value of in the EOM, we get
2 cos + cos = cos
which becomes,
2 + =
we can write
=
2
so our general solution
= + ()
becomes,
= 1 cos + 2 sin +
cos
2

Using initial conditions, = 0 = and = 0 =

Solution
we get

1 =
; 2 =
2

Hence we can write
=
cos +
sin +
cos
2
2
We calculated
which can be written as
=
=
2

=
2
=
=
2
2
2
(1
) (1
) (1 2 )
Quantity = / is the deflection of the mass under a force and

is sometimes called static deflection because is a constant force

Solution
Thus we get, =
(1
2
)
That can be written as,
=
(1
2
)
Quantity / 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 =
/
System response can be studied for
three distinct cases

Case 1
When < / <
Denominator of magnification factor
1
=
, is positive
2
(1
Response is given by = cos

without change
Harmonic response of the system
is in phase with the external
force

Case 2
When > / >
Denominator of magnification factor
1
=
, is negative
2
(1
Response is given by = cos

The amplitude of motion is redefined
to be a positive quantity as
=
2
1
and have opposite signs and

are said to be 180o out of phase
Further / , 0.
Thus the response of the system to a harmonic force of very
high frequency is close to zero

Case 3
When / =
=
(1
, becomes infinite
2
)
The condition is known as resonance

To find response for this condition, we rewrite
=
cos +
sin +
cos
2
2

As,
= cos +

sin
cos cos
Previously we have shown that
==
2
(1 )

cos cos
= cos +
sin +
2
(1 )

Case 3
Since the last term takes an indefinite form when = , we apply
LHospitals rule to evaluate the limit of this term
cos cos
cos cos
lim
= lim
2
2
1
1
sin

lim
=
sin
2
2
2
Finally the response of the system at resonance becomes

= cos +
sin +
sin

Case 3

= cos +
sin +
sin

Total Response
For(/ ) < 1,
= cos( ) +
For(/ ) > 1,
= cos( )
cos
1+
cos

Example 3.1
A reciprocating pump, weighing 150 lb, is mounted at the middle of a steel plate of
thickness 0.5 in., width 20 in., and length 100 in., clamped along two edges as
shown in Figure. During operation of the pump, the plate is subjected to a
harmonic force, = . lb. Find
a) the amplitude of vibration of the plate

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:
= = 5000 N/m, a = 0.25 m, b = 0.5 m, l = 1 m,
M = 50 kg, m = 10 kg, = 500 N, =1000 rpm
Review Examples: 3.2; Practice Problems: 3.1-3.23

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 for beating phenomenon can be obtained by considering
=
cos +
sin +
cos
2
2
For = = 0, above equation reduces to
=
cos +
cos
2
2

= 2
cos cos
2

+

= 2
2 sin
. sin
2
2
2


Beating Phenomenon

+

= 2
2 sin
. sin
2
2
2

Let the forcing frequency be slightly less than the natural frequency
= 2
where is a small positive quantity. Then
+ = 2
Multiplication of above equation gives
2 2 = 4
Putting values in above equation yields following solution

=
sin sin
2
Since is small, the function sin varies slowly; its period, equal to
2/ is large.
Above solution can be seen as representing vibration with period

2/ and of variable amplitude equal to 2
sin

Beating Phenomenon

=
sin sin
2
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 = 2/2 = 2/( )
Frequency of beating as, = 2 =
Response of a Damped System Under Harmonic Force

If the forcing function is given by = cos , the EOM becomes
+ + = cos
The particular solution is also expected to be harmonic; we assume it as
= cos( )
where X and is amplitude and phase lag of the response i.e. displacement
vector lags the force vector by ,
= sin = cos( + )
2
2
2
= sin = cos +
By substituting in EOM, we get
2
cos + + cos +
+ cos = cos
2
From vector diagram of these forces, we have
2 = 2 2 + 2
2 = 2 2 2 + 2
=
= tan1

Thus particular or steady state solution of the equation becomes
=
cos( )
2 2 + 2

Now consider
2
Which can be simplified to
=
2 1 2 / 2 + /
Where,
=
2
2 2
+ 2 /
1
1
= /
2 2
+ 2
= = 2
Putting = / , We finally get
1
1 2
+ 2
tan1
2
1 2
1
1 2
+ 2

For ( = 0), magnification factor
(M) reduces to an undamped case
Any amount of damping reduces
the M for all values of the forcing
frequency.
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, 0 as )
1
1 2
+ 2

For 0 < < 1/ 2, the maximum
value of M occurs when
= 1 2 2 or = 1 2 2
which can be seen to be lower than
the undamped natural frequency
and the damped natural frequency
The maximum value of X (when
= 1 2 2 ) is given by
1
=
2 1 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.
1
1 2
+ 2
1
=
2 1 2
Conversely, if the amount of
damping is known, one can make
an estimate of the maximum
amplitude of vibration.
The value of X at = by
1
=
=
2
For = 1/ 2,
= 0 when = 0.
For > 1/ 2, the graph of M

monotonically decreases with
increasing values of r.
1
1 2
+ 2

For an undamped system ( = 0), the
phase angle is 0 for 0 < < 1 and 180
for > 1, implying that the excitation
and response are in phase for 0 < < 1
and out of phase for > 1 when = 0
For > 0 and 0 < < 1, the phase angle
is given by 0 < < 90, implying that
the response lags the excitation.
For > 0 and r > 1, the phase angle is
given by by 90 < < 180, implying
that the response leads the excitation.
For > 0 and r = 1, the phase angle is
given by = 90, implying that the
phase difference between the excitation
and the response is 90.
For > 0 and large values of r, the phase
angle approaches 180, implying that the
response and the excitation are out of
phase.
tan1
2
1 2

Force Vibration Vector Diagrams
exciting force
approximately equal to
spring force
cX
exciting force equal to

damping force, and inertia
force equal to spring
force
cX
kX
cX
kX
kX
mX2
mX2
exciting force nearly

equal to inertia force
mX2

Total Response
Complete or general solution is given by
= +
We know that for damped SDOF system is given by
= cos( )
So total response becomes
= cos( ) + cos( )
Where,
=
1 2
= tan1
+
What about and ??

To be evaluated from initial conditions for the given general
solution
0 = 0 = 0 cos 0 + cos

= 0 cos sin
sin( )

Total Response

= 0 cos sin
sin( )
0 = 0 = 0 cos 0 + 0 sin 0 + sin
The solution of above equations will give
0 =
1
0 cos + 2 0 + cos sin
0 + cos 0 sin
1
0 = tan
(0 cos )
2
1
2

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, =0.01m and = under the following conditions:
a) An external force = , acts on the system with = N and
= rad/s
b) Free vibration with =

Problem 3.26
Consider a spring-mass-damper system with k=4000 N/m, m = 10kg, and c = 40Ns/m. Find the steady-state and total responses of the system under the harmonic
force = N and the initial conditions =0.1m and =
Response of a Damped System Under the Harmonic Motion of Base

Sometimes the base or support of a
spring-mass-damper system
undergoes harmonic motion
Let () 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 ( ) and the relative velocity
between the two ends of the damper is
( )
From the free-body diagram shown,
we obtain the equation of motion:
+ ( )+
k ( )= 0
+ ( )+
k ( )= 0
If = sin , we get
+ +
k = ky + c = sin + cos
= sin( )
1
2
2
=
where
= +
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
sin( 1 )
+
which can be written as

=
2 +
2
where
sin( 1 )
1 = tan1

=
2 +
2
sin( 1 )
Using trigonometric identities, can be written as

= sin( )
where
2 + 2
2 2 +
1 + 2
1 2
+ 2
and
3
3
2
1
= tan1
=
tan
2 + 2
1 + 4 2 1 2
The ratio of the amplitude of the response to that of the base
motion y(t),
= is called the displacement transmissibility
= =
1+ 2 2
1 2 2 + 2 2
tan1
2 3
1+ 4 2 1 2

The value of is unity at r=0 and
close to unity for small values of r.
For an undamped system ( = 0),
at resonance ( = 1)
The value of is less than unity ( <
1) for values of ( > 2) for any
amount of damping
The value of is unity for all values of
at = 2
For < 2, smaller damping ratios
lead to larger values of
On the other hand, for > 2, smaller
values of damping ratio lead to smaller
values of
The displacement transmissibility ,
attains a maximum for 0 < < 1 at the
frequency ratio = < 1 given by
1
=
1 + 8 2 1
2
= =
1+ 2 2
1 2 2 + 2 2

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
= ( )+
k ( )=
Using = sin( ), we get
= m2 sin = sin( )
where is the amplitude or maximum value of the force
transmitted to the base given by
= 2
1
2
1 + 2
1 2 2 + 2
The ratio is known as the force
transmissibility.

Relative motion
If = denotes the motion of the mass relative to the base, the equation of
motion becomes
+ +
k = = 2 sin
The steady-state solution is given by
2 sin( 1 )
=
1 = sin( 1 )
2 2 + 2 2
where Z, the amplitude of (), can be
expressed
2
=
1
2
2
2

+ 2
2
=
1 2 2 + 2 2
2
1
1
1 = tan
= tan
2
1 2

Example 3.4
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 =
. . If the vehicle speed is 20 km/hr, determine
a) the displacement amplitude of the vehicle. The road surface varies sinusoidally
with an amplitude of Y=0.05m and a wavelength of 6m

Example 3.4
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
Response of a Damped System Under Rotating Unbalance

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
excitation add together and act along
the axis of symmetry AA

If the angular position of the masses is
measured from a horizontal position,
the total vertical component of the
excitation is always given by
= 2 sin
The equation of motion can be derived
by the usual procedure
+ +
k =2 sin
The solution of this equation will be
identical to previously derived
equation for damped forced vibration,
if we replace m and 0 by M and 2
respectively
= sin( )
Where, =
2
2 2 + 2
tan1
2

By defining = / and = 2
1 2
+ 2
2
1 2
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
For 0 < < 1/ 2, the maximum of
introduced purposefully to avoid

dangerous amplitudes.
MX/me occurs when,
=0

At very high speeds ( large), MX/me
The solution of equation is
is almost unity, and the effect of
1
=
>1
damping is negligible.
2
1 2
= tan1

Corresponding maximum value of
MX/me is given by
1
2 1 2
Thus the peaks occur to the right of

the resonance value of r=1
For > 1/ 2, [MX/me] does not
attain a maximum. Its value grows
from 0 at r=0 to 1 at
The force transmitted to the
foundation due to rotating
unbalanced force (F) can be found as
= + ()
The magnitude (or maximum value)

of F can be derived as
1 + 4 2 2
2
=
1 2 2 + 4 2 2

Example 3.6
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 = . . 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.

Mechanical Vibrations - Forced Vibrations

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Instructor: Muhammad Haider

Harmonic Motion, Complex Algebra and Fourier Series

Single Degree of Freedom Systems: Free Vibrations

Single Degree of Freedom Systems: Harmonically Excited

Multi Degree of Freedom Systems

Response of an Undamped System under Harmonic Force

Response of a Damped System under Harmonic motion of

SDOF: Harmonically Excited Vibrations

where is the amplitude, is the frequency and is the

SDOF: Harmonically Excited Vibrations

SDOF: Harmonically Excited Vibrations

SDOF: Harmonically Excited Vibrations

Response of an Undamped System Under Harmonic Force

/, is the natural frequency of the system

Exciting force () is harmonic, the particular solution

Response of an Undamped System Under Harmonic Force

Response of an Undamped System Under Harmonic Force

Hence we can write

Quantity = / is the deflection of the mass under a force and

Response of an Undamped System Under Harmonic Force

That can be written as,

Quantity / represents the ratio of

Response of an Undamped System Under Harmonic Force

Response is given by = cos

SDOF: Harmonically Excited Vibrations

Response of an Undamped System Under Harmonic Force

Response is given by = cos

and have opposite signs and

Response of an Undamped System Under Harmonic Force

The condition is known as resonance

Previously we have shown that

Response of an Undamped System Under Harmonic Force

Finally the response of the system at resonance becomes

SDOF: Harmonically Excited Vibrations

Response of an Undamped System Under Harmonic Force

SDOF: Harmonically Excited Vibrations

Response of an Undamped System Under Harmonic Force

SDOF: Harmonically Excited Vibrations

Response of an Undamped System Under Harmonic Force

SDOF: Harmonically Excited Vibrations

Response of an Undamped System Under Harmonic Force

Review Examples: 3.2; Practice Problems: 3.1-3.23

Response of an Undamped System under Harmonic Force

Response of Damped System under Harmonic Force

SDOF: Harmonically Excited Vibrations

Response of an Undamped System Under Harmonic Force

Response of an Undamped System Under Harmonic Force

Response of an Undamped System Under Harmonic Force

Response of a Damped System Under Harmonic Force

SDOF: Harmonically Excited Vibrations

Response of a Damped System Under Harmonic Force

SDOF: Harmonically Excited Vibrations

Response of a Damped System Under Harmonic Force

Putting = / , We finally get

SDOF: Harmonically Excited Vibrations

Response of a Damped System Under Harmonic Force

SDOF: Harmonically Excited Vibrations

Response of a Damped System Under Harmonic Force

SDOF: Harmonically Excited Vibrations

Response of a Damped System Under Harmonic Force

Eq can be used for the experimental

Response of a Damped System Under Harmonic Force

For > 1/ 2, the graph of M