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CHAPTER III
3.1 Harmonic Excitation of Single-Degree-of-Freedom systems
There are many sources of excitations that cause machines and structures to vibrate. They include Unbalance rotating devices, Gusting winds, Vortex shedding, Moving vehicles, Earthquakes, Rough road surfaces, and so on. The forced vibrations of systems are usually caused by dynamic forces F (t) or support motions y(t) such as shown.
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Figure 52. Examples of Harmonically Excited Systems

3.1.1 Exciting Force F (t) = Fo sin t (or = Fo cos t) Equation of motion

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(1)
The last Equation is the general Equation of motion of single degree of freedom system.
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Figure 53. Forced Mass-Spring-Damper System

Solution of Equation of motion

The complete solution of this Equation is the sum of:
1. Homogeneous solution Xh (Free Response or Natural Response) which is dies out with time, it is often referred as a transient response, and

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2. Particular solution Xp (Forced Response) which is known as the steady state response.

The total response is

The particular solution or steady state response is best determined with the use of complex algebra, Since

(2)
We can express the right-hand side of Equation (1) as

, with the provision that

only the imaginary part of the term will be used in the solution process. We assume the steady state response as,

(3)

Substituting Equations (2), (3) into (1) yields,

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(4)

Figure 54. Graphical Representation of Force and Displacement

is called the phase angle, the angle by which the steady state response lags the
exciting force as shown. The complete solution,

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The vibratory motion described by Equation (7) is a combination of two motions; one has a frequency d and an exponentially decreasing amplitude, while the other has a frequency and constant amplitude of X. As mentioned, the transient vibration disappears with time, leaving just the steady state motion.
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Figure 55. Response vs. Time

For Undamped Systems

For the undamped system = 0. According to Equation (6), is equal to zero or 180o depending on the value of r whether it is less or more than one. This means that the displacement is in phase or out of phase with the force. The homogeneous part of the solution does not vanish. The general solution is written as

(8)

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The constants A and B are determined from the initial conditions. Most probably, at the start of applying the external force, the initial displacement and velocity are zero. Thus, applying the conditions x = 0 and x= 0 for t = 0, we get

(9)
The displacement x is formed of two frequencies.

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(a) For a large frequency difference. (b) For a small frequency difference (beat phenomenon) (c) Response at resonance. Figure 56. Forced Response of a Harmonically Excited Undamped Simple Oscillator When is very close to n r 1 i.e. the exciting frequency is equal to the natural frequency, the amplitude, theoretically, is infinite. This situation is known as

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resonance. Actually, the amplitude does not jump to infinity all of a sudden. It increases gradually. This is explained as follows. According to Equation (9), take the limit as tends to n by differentiating the nominator and the denominator with respect to and substitute = n , then

(10)

(11)

The plot of Equations (10) and (11) is shown in Figure 57.

Figure 57. Total Response vs. Time

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Steady-State Response
Equation (7) can be written as:

Equation (5) in dimensionless form,

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A plot of Equation (13) for various magnitudes of damping is shown in Figure 59. These curves reveal some important characteristics of steady-state vibration of a system subjected to a harmonic excitation:

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Figure 58. Magnification Factor vs. Frequency Ratio 1.

r << 1, the M.F. is nearly 1 approaching the static loading condition as shown in Figure
59.

2. 3. 4.

r 1, and

is sm all, the M.F. beco m es very large,

r >> 1, the system approaches a motionless state,

has a negligible effect on the M.F. when r

<< 1 and r >>1, but has a very significant

effect in the region of r

1, r equal to zero yields r = 1.0

5. setting the derivative of the right-hand side of Equation (13) w.r.t

,which shows that the M.F. is maximum just short of d ep end ing up o n the m agnitud e o f , this co nd itio n is referred to as resonance,

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Figure 59. Magnification Factor vs. Damping Ratio 6. The M.F. at resonance is given by ,

7. M.F. increases as the damping drops below 4% , at 0.01 the M.F. is 50 times greater than the static displacement Xst caused by applying Fo statically, 8. How to reduce the M.F. (or the amplitude of vibration X)?

r < 1.0 m k

r = 1.0 m k

r >1.0 m k

The Phase Angle

A family of curves of Equation (6) is shown Figure 60.

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Figure 60. Phase Angle vs. Frequency Ratio 1. For values of r

<< 1,

is sm all, this m eans that the excitatio n F is nearly in p hase

with the displacement x. 2. For values of r<1, behind the force. 3. For r = 1, the phase angle is equal to 90o for all values of the damping factor, F is in phase with the velocity 4. For r

0 < < 90o.

This means that the displacement is lagging

> 1, 90o < < 180o. 1.0,

the phase angle approaches 180o. The force and the

5. For large values of r>>

displacement are out of phase. 6. For no damping (

= 0), = 0, when r < 1.0 and = 180, when r > 1.0. x

do not attain their maximum

7. The excitation force F and the steady-state response

values at the same time, is a measure of this time difference.

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Graphical Analysis

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Figure 61 shows the graphical Representation of the relation between the exciting forces and the response

Figure 61. Graphical Analysis

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Example 1
For the system shown in Figure 62 determine:
a. the differential Equation of motion of the uniform slender rod if the damping is sufficient to k eep the o scillatio n sm all fo r all values o f the exciting frequency , b. the damped natural frequency in terms of the system parameters, c. the of the damping coefficient c for critical damping, and d. The amplitude of steady-state response. 15

Figure 62. Hinged Rod with Mass Spring Damper

If the rod was steel and had a magnification factor of 2.5 at resonance. Then replace the steel rod with aluminum one of identical length and cross section. Assuming that c and k are the same for both systems, find the magnification factor with the aluminum rod. (Specific weight of aluminum = 27.04 KN/m3, sp. wt. of steel = 78.4 KN/m3)

Solution

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(Equation of Motion)

(Natural Frequency)

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Steady-State Response

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