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Problem
Solve the ordinary Vibration Differential Equation using f(t) as shown in figure 1.

Figure 1: Problem

Solution
Equation The governing equation to be solved is
B2 x Bx
m 2
`c ` kx “ f ptq (1)
Bt Bt
, with all the notations with usual meaning. This equation can also be written as
f ptq
: ` 2ζωn x9 ` kx “
x (2)
m
where,
c
ζ“
2ω m
cn
k
ωn “
m
Now, from figure 1, the forcing function f(t) can be written as the superposition of ramp function (Please read about
Ramp function in detail from any source) as
F0
f ptq “ prptq ´ rpt ´ T qq (3)
T
, where r(t) denotes unit ramp function given as
rptq “ tuptq

Homogeneous Solution The above equation is a non homogeneous equation, so we need to compute solution as

x “ xh ` xp

For homogeneous equation, let solution be

xh “ eλt
Putting it, the characteristic equation can be written as

λ2 ` 2ζωn λ ` ωn2 “ 0

This simple quadratic equation can be solved for values for λ, and following the same, the homogeneous solutions can
be written as (assuming ζ ă 1, same can be done for all cases)

xh ptq “ Cep´ζωn ˘ιωd qt

1
It can be reduced in the form of cos(ωd t) and sin(ωd t), which you are already familiar with. So, the final homogeneous
solution can be written as
xh ptq “ e´ζωn t pC1 sinpωd tq ` C2 cospωd tqq (4)

The important part is particular solution of the equation 1. For particular solution, let’s try solving a rather simpler
problem to get a direct solution.

Simplification Let’s try solving a simpler problem to reach solution of our case. The simpler problem can be posed
as
rptq
: ` 2ζωn x9 ` kx “
x (5)
m
With the particular solution for above case, we can get the particular solution for any general cases like one in
equation 1. Say, if for this simple case, we can represent solution as xp ptq ,then for our case i.e equation 1, the solution
can be written as
F0
xpact “ pxp ptq ´ xp pt ´ T qq (6)
T
Back to obtaining particular solution for equation 5, considering that r(t) = t u(t), the particular solution using
method of undetermined coefficients can be assumed as

xp “ A1 t ` A0

Putting it in equation 5, the equation can be processed as

t
2ζωn A1 ` ωn2 pA1 t ` A0 q “
m
2
` 2
˘ t
ωn A1 t ` 2ζωn A1 ` ωn A0 “
m
1
A1 “
mωn2
´2ζωn A1 ´2ζ
A0 “ “
ωn2 mωn3

So, the particular solution for equation 5 becomes

t 2ζ
xp ptq “ 2
´ (7)
mωn mωn3
ˆ ˙
1 2ζ
“ t´ (8)
k ωn

Using discussion above, the particular solution for equation 1 can be written using equation 6.

Total Solution Using the Homogeneous and Particular solution obtained above total solution of the equation can be
written as
F0
x “ e´ζωn t pC1 sinpωd tq ` C2 cospωd tqq ` pxp ptq ´ xp pt ´ T qq (9)
T
, where xp (t) is given in equation 8.
C1 and C2 can be obtained using any initial condition.