MEEN 363 - Cheat Sheet for SDOF motion Luis San Andres -

October 2012 Pages 1 and 2

y Ke y Ce y F (t )
(only) allowed on Exams III-VI
EOM:
M e
Given a mechanical system with equivalent parameters (Me ) mass, (Ke ) stiffness, (Ce ) viscous damping coefficient.

Ke Ce Ce Ce n
define natural frequency and damping ratio as: n = = = =
Me 2 M e n 2 Ke M e 2 Ke

2
d d
TRANSIENT RESPONSE system to STEP Force F(t)=Fo M e Y Ce Y Ke Y = Fo
2 dt
dt
Underdamped system only, <1
+ initial conditions d at t=0
Y0 = Y( 0 ) V0 = Y
dt
n t
system response is:
Y( t) = e
C1 cos d t C2 sin d t Yss
Fo V0 n Y0 Yss and 2
Yss = C1 = Y0 Yss C2 = d = n 1
where Ke d
damped natural frequency
for 1: see page 2)

LOG DEC (): formula to estimate damping ratio () from a free response = 1 ln Ao = 2 =

n An 2 2 2
Ao and An are peak motion amplitudes separated by n periods 1 4
================================
2
d d
TRANSIENT RESPONSE system to Force F(t)=A+Bt M e Y Ce Y Ke Y = A B t
2 dt
dt
n t C1 = Y0 a
Y = a b t e
C1 cos d t C2 sin d t
a = A Ce ; b =
B 1 B
;
for 1 Ke Ke Ke C2 d = V0 b n Y0 a

Transient response of overdamped system, step force Fo=constant 1

2 + initial conditions Y0 = Y( 0 ) d at t=0
d d V0 = Y
M e Y Ce Y Ke Y = Fo dt
2 dt
dt
s 1 t s 2 t 2 2
Y( t) = A1 e A2 e Yss where: s1 = n 1 s2 = n 1

Fo A1 A2 = Y0 Yss
Yss =
Ke s1, s2 < 0
A1 s1 A2 s2 = V0 Solve for A1 and A2

Transient response of critically damped system, step force Fo=constant1

2
d d d
M e Y Ce Y Ke Y = Fo + initial conditions Y0 = Y( 0 ) V0 = Y at t=0
2 dt dt
dt
s t
Y( t) = e A1 t A2 Yss
where: s = n
Fo
A1 = Y0 Yss
Yss =
Ke A1 s A2 = V0
STEADY RESPONSE of system to PERIODIC LOADS with frequency
Case: periodic force of constant magnitude F( t) = Fo sin t Define operating frequency ratio:

System periodic response: Y( t) = s H( r) sin t

r=
where: n
1
Fo 2 r
tan =
H( r) = care with angle, range: 0 to -180deg
s = .5
2

Ke 2 2
1r
1 r 2 r
2

Case: base motion of constant amplitude 2

d d d
M e Y Ce Y Ke Y = K YB Ce YB
2 d t dt YB( t) = A cos t
dt

Y( t) = A G( r) sin t
System periodic response:

.5
1 2 r 2 2 r
3
where: G( r) = tan =
2

2 2 2
1 4 r
1 r 2 r
2

Case: response to mass imbalance

F( t) = m e sin t u=imbalance (offset center of mass)
2
displacement
Me = M m
J( r) sin t
m
System periodic response: Y( t) = e
Me m e = M e u

2
r
J( r) =
2 r

.5 tan =
2

2 care with angle, range: 0 to -180deg
2 r
2 2
1 r 1r

OTHER USEFUL formulas: (program them in a calculator)

Underdamped system <1: step force response constants in formulas

Given n t
Y( t) = e
C1 cos d t C2 sin d t Yss
find velocity d n t
V( t) =
dt
Y
V( t) = e
D1 cos d t D2 sin d t

where:
D1 = n C1 C2 d
D2 = n C2 C1 d

find acceleration
d n t
a( t ) =
dt
V
a( t ) = e
E1 cos d t E2 sin d t

where:
E1 = n D1 D2 d
E2 = n D2 D1 d
A case your memory should retain forever NO DAMPING, C=0 Ns/m
TRANSIENT RESPONSE of M-K system to STEP Force F(t)=Fo
Undamped system,

2
d
M e Y Ke Y = Fo d
2 + initial conditions Y0 = Y( 0 ) V0 = Y at t=0
dt dt

response is:
Y( t) = C1 cos n t C2 sin n t Yss
MOTION never dies since
Fo V0 there is no dissipation action
Yss = C1 = Y0 Yss C2 =
where Ke n (no damping)

and velociy and acceleration:

d
V( t) =
dt
Y

V( t) = D1 cos n t D2 sin n t D1 = C2 n D1 = C1 n

d
a( t ) =
dt
V

a( t) = E1 cos n t E2 sin n t E1 = C1 n
2
E2 = C2 n
2

Note that the velocity and acceleration superimpose a cos & a sin functions. Thus, the maximum values of velocity
and acceleration equal
0.5
Vmax = D1 D2
2 2
Vmax = n C1 C2
2 2

0.5
amax = D1 D2
2 2 2 2 2
amax = n C1 C2 = n Vmax

since
Fo V0
Yss = C1 = Y0 Yss C2 =
Ke n

2
V0
Y0 Yss
2 2
amax = n
n

Note: the function x ( t) = a cos t b sin t can be written as

x ( t) = c cos t
tan =
where 2 2 b
c= a b
a
OTHER important information
given a function f ( t) find its maximum value
d
f =0
The maximum or mimimum values are obtained from dt

For example, for the underdamped response, <1, the system response for a step load is

n t
Y( t) = e
C1 cos d t C2 sin d t Yss
Fo V0 n Y0 Yss and 2
Yss = C1 = Y0 Yss C2 = d = n 1
where Ke d
damped natural frequency
when does Y(t) peak (max or min) ?

n t
from the formulas sheet
V( t) = e
D1 cos d t D2 sin d t

D1 = n C1 C2 d
D2 = n C2 C1 d

A peak value occurs at time t= when dY/dt=V=0, i.e.

n
0=e
D1 cos d D2 sin d
n
e 0 for most times; hence
0 = D1 cos d D2 sin d
D1

tan d = D2 solve this equation to find

there are an infinite # of time values () satisfying the equation above. Select the lowest as this will probaly will give
you the largest peak.
2
d d
M e Y Ce Y Ke Y = A B t
Example: dt
2 dt

Obtain constants C1 and C2 for case of force F(t)=A+Bt - underdamped response

n t
Given Y( t) = e
C1 cos d t C2 sin d t a b t
n t
V( t) =
d
Y V( t) = e
D1 cos d t D2 sin d t b
dt

D1 = n C1 C2 d
D2 = n C2 C1 d
at t=0, d at t=0
Y0 = Y( 0 ) V0 = Y
dt
satisfy initial conditions:
Y0 = Y( 0 ) Y0 = C1 a
C1 = Y0 a

d
V0 =
dt
Y

V0 = D1 b = n C1 C2 d b

V0 = n Y0 a C2 d b V0 b n Y0 a
C2 =
d
FREQUENCY RESPONSE FUNCTIONS for PERIODIC LOAD with frequency

Case: periodic force of constant magnitude 2

Y Ce Y Ke Y = Fo sin t
d d
M e
2 dt
dt

Define operating frequency ratio: r =
n

Displacement: Y( t) = s H( r) sin t
System periodic responses:

Y = s H( r) sin t
velocity: d
V( t) =
dt

2
Y = s H( r) sin t = Y
d 2 2
acceleration: a( t ) =
2
dt
where: harmonic response
1
Fo 2 r
tan =
H( r) =
s = .5 care with angle, range: 0 to -180deg
2

Ke 2 2
1r
1 r 2 r
2

Define dimensionless amplitudes of frequency response function for

displacement Y
= H( r)
s

velocity V n
= r H( r)
s

acceleration
2
a n 2
= r H( r) = J( r)
s

Disclaimer:
The list of formulas listed above (solutions to ODE) WILL AID you in the analysis of system response
The list is NOT exhaustive.

The formulas do NOT answer the question: Which formula do I use? One must use judgement
(knowledge of the problem - how it works) to select the appropriate formula (response)

Dr. San Andres does NOT guarantee that all formulae given above are type CORRECTLY. It is the
student's responsibility to verify the formulas above.

ONLY PAGES ONE & TWO of this DOCUMENT ALLOWED on EXAMs #2 , #3

and #6
 GRAPHS for AMPLITUDE OF TRANSFER functions
Given desired H and freq r
Constant amplitude force
Ha 2 ra 1.2
H r
1 formula for damping ratio
.5
2

2
1 r 2 r
2 .5
1 2
2
1 ra
1
0.099
ra 2 2
Ha

H

4
H ra 2
Amplitude, H

1
5.053
2
2

H 1 5.053

0
0 0.5 1 1.5 2
frequency ratio, r

===================================================================================
Acceleration or Imbalance Given desired J and freq r
2
Ja 3 ra 0.9
J r
r formula for damping ratio
.5
2

2 .5
2 r 4 2
2
1 r 1 ra
1 ra
2

ra 2 2
Ja 0.107
6

J
4
Amplitude, J

J ra 3
2
1
4.692
2

0
0 0.5 1 1.5 2 2.5 3 J 1 4.692
frequency ratio, r
=======================================================================================
Given desired T and freq r
Transmitted force to base or foundation
ra 0.75 Ta 2.0
2

0.5 2
1 2 r 2 2 r = 1 2 r
2 2 2
T r
T 1 r

.5 T ra 0 2.286
2

2

2 r
2 2
T 1 = 2 r 1 T
2 2 2 2
1 r
1 r
.5
2
2
1
2
1 1 ra Ta

ra 2 2
1 Ta
3

T *
0.186

2
Amplitude

T ra 2

1 T 1 2.864

.5
1 2 2
2.864
0 2
0 0.5 1 1.5 2
frequency ratio, r