Forced Motion

At the end of the applications of second order

linear differential equations, we consider
1. A vibrational system consisting of a body of
mass attached to a spring. The motion of the
body is being driven by an external force i.e.
forced motion (with damping and without
damping).
2. Flow of current in an electrical circuit that
consists of an inductor, resistor and a
capacitor connected in series, because of its
similarity with the forced motion.
(a) Forced Vibrations with Damping
We now consider the vibrations of a spring-
mass system when an external force is applied
and also when damping is present
Example 1
Interpret and solve the Initial-value problem
2
1d x dx
2
1.2 2 x 5cos 4t ,
5 dt dt
(1)
1
x 0 , x 0 0,
2
Interpretation

The problem represents a vibrational system

consisting of

1.A mass m = 1/5 slugs or kilograms

2. The mass is attached to a spring having

spring constant k = 2 lb/ft
or N/M.

3. The mass is released from rest 1/2ft below

the equilibrium position.
4. The motion is damped with damping
constant b = 1.2.
.
5. The motion is being driven by an external
periodic force f(t)=5cos4t period T = /2.
Solution
The auxiliary equation for the above problem is,
m 6m 10 0
2

m -3 i
xc t e 3t
c1 cos t c2 sin t
To find particular solution we use undetermined
coefficient method, let
x p t A cos 4t B sin 4t (2)
Using Eq. (2) in Eq. (1) we get
 x p t
25 50
cos 4t sin 4t
102 51
Now
xt xc t x p t

xt e c1 cos t c2 sin t
3t 25 50
cos 4t sin 4t
102 51
By using the initial conditions we get

38 86
c1 and c 2
51 51

38 25
xt e 3t 86 50
cos t sin t cos 4t sin 4t
51 51 102 51
(3)
In Eq. (3) xc(t) is said to be the transient
solution and xc(t) is said to be the steady
state solution.
Also we can see that lim xc t 0 which
t
shows the transient behavior.
Forced Motion without Damping
With periodic impressed force and no
damping force there is no transient term in
the solution. Also we shall see that a periodic
impressed force with a frequency near, or the
same as, the frequency of free un-damped
vibrations (resonance) can cause severe
problems in any oscillatory mechanical
system .
Example
Solve
2
d x
2
2
x Fo sin t , x 0 0, x 0 0, (1)
dt
Solution
Given
is the natural frequency.
is the force frequency
The auxiliary equation for the above problem is

m 0
2 2

m iw
xc t c1 cos t c2 sin t
To find particular solution, let
x p t A cos t B sin t (2)

Using Eq. (2) in Eq. (1) we get

Fo
x p t 2 sin 4t
2

Now
xt xc t x p t
Fo
xc t c1 cos t c2 sin t 2
2
By using the initial conditions we get
Fo
c1 0 and c 2 2
2

Fo sin t sin
x t ,

2 2

Note that In an un-damped force motion

there is no transient solution (with periodic
impressed force).
Also, when forced frequency is near or same
as the natural frequency of un-damped
Vibration, there may occur severe problem in
any mechanical system.
e.g. d
sin t sin t
d
x t lim Fo

d 2 2

d
sin t sin t 0
x t lim Fo

2 2
0
Fo Fo
x t sin t t cos t
2 2
2
as
n
t , x tn when tn , n 1,2,3.........

As t approaches to infinity displacement
becomes very large, this phenomenon is
known as Resonance
Resonance
Resonance is the tendency of a system to
oscillate at larger amplitude at some
frequencies than at others. These are known
as systems resonant frequencies (or
resonance frequencies). At these frequencies
even small periodic driving forces can produce
large amplitude vibrations because the system
stores vibrational energy when damping is
small.
Electric Circuits
Many different physical systems can be
described by a second order linear differential
equation similar to the differential equation of
the forced motion
2
m 2 b kx f t
d x dx
dt dt
One such analogous case is that of an LRC-
Series circuit. Because of the similarity in
mathematics that governs these two systems,
it might be possible to use our intuitive
understanding of one to help understand the
other.
The LRC Series Circuits
The LRC series circuit consist of an inductor,
resistor and capacitor connected in series with
a time varying source voltage, E(t)
Resistor
A resistor is an electrical component that limits
or regulates the flow of electrical current in an
electrical circuit.
The measure of the extent to which a resistor
impedes or resists with the flow of current
through it is called resistance, denoted by.
Clearly higher the resistance, lower the flow of
current. Lower the resistance, higher the flow
of current. Therefore, we conclude that the flow
of current is inversely proportional to the
resistance, i.e
I V.
1
R
V IR
Where V is constant of proportionality and it
represents the voltage. The above equation is
mathematical statement of the well known as
Ohms Law
Inductor
An inductor is a passive electronic component
that stores energy in the form of magnetic
field. In its simplest form the conductor
consists of a wire loop or coil wound on some
suitable material.
Whenever current through an inductor
changes, i.e increases or decreases, a counter
emf is induced in it, which tends to oppose this
change. This property of the coil due to which
it opposes any change of current through it is
called the inductance.
Suppose that denotes I the current then the
rate of change of current is given by
dI
dt
This produces a counter emf voltage V . Then
V is directly proportional to
dI
dt

dI dI
V V L
dt dt
Where L is constant of proportionality, which
represents inductance of the inductor. The
standard unit for measurement of inductance
is Henry, denoted by H.
Capacitor
A capacitor is a passive electronic component
of an electronic circuit that has the ability to
store charge and opposes any change of
voltage in the circuit. The ability of a capacitor
to. store charge is called capacitance of the
capacitor denoted by If q coulomb of a
charge to the capacitor
and the potential difference of V volts is
established between 2 plates of the capacitor
then
q C q CV
q
or V
C
Where C is called constant of proportionality,
which represent capacitance. The standard
unit to measure capacitance is farad, denoted
by F.
Kirchhoffs Voltage Law
The Kirchhoffs 2nd law states that the sum of
the voltage drops around any closed loop
equals the sum of the voltage rises around that
loop. In other words the algebraic sum of
voltages around the close loop is zero.
The Differential Equation
Now we consider the following circuit
consisting of an inductor, a resistor and a
capacitor in series with a time varying voltage
source E(t).
If VL, VR and Vc denote the voltage drop across
the inductor, Then
dI q
V L L , V R RI , Vc
dt C
Now by Kirchhoffs law,
VL VR Vc E t

L RI E t
dI q
or (A)
dt C
Since the electric current I represents the rate
of flow of charge. Therefore we can write
dq / dt
 dq
I
dt
Substituting in the last equation, we have
2
d q dq q
L 2 R E t (B)
dt dt C
Note that:
1.We have seen this equation before! It is
mathematically exactly the same as the
equation for a driven, damped harmonic
oscillator.
2.If E(t) = 0, R 0, the electric vibration of the
circuit are said to be free damped oscillation .
If E(t) = 0, R = 0, then the electric vibration can
be called free un-damped oscillations
Solution of the differential equation
Differentiating (A) w.r.t. t we get
2
d I dI I dE
L 2 R (C)
dt dt C dt
If E Eo sin t , Then Eq. (B) takes the form
2
d I dI I
L 2 R Eo cos t (1)
dt dt C
In most practical problems the Current I(t) is
more important than Q(t) and for this reason
we shall concentrate on (1) rather than Eq. (B).
Now we will find the solution of Eq. (1).
The auxiliary Equation of (1) is

R 1
m m
2
0
L LC
2
R 1 R 1
m 2
m1 , m2
2 L 2 4 L LC
I c t c1e c2 e
m1t m2t
(2)
Where
m1 and m2
R R 1
2, 2
2.
L 4L L
Particular Solution
Assume
I p a cos t b sin t (3)

Using equation (3) in (1)

d2 d 1
L 2 a cos t b sin t R a cos t b sin t a cos t b sin t E0 cos t.
dt dt c
1
L a cos t b sin t R a sin t b cos t a cos t b sin t E0 cos t.
2

c
Equating the coefficients of like cost and sint
a
aL bR E0 ,
2

c
b
bL aR 0.
2 (4)
c
Using Cramers Rule, we have from (4) and
E0
a 2 (5)
R 2

E0 R
b 2 , (6)
R 2
where
1
L . (reactance)
L
Putting equation (6) into (3), we obtain
E0
2
Ip 2 R sin t sin t . (7)
R
Using
A cos x B sin x A2 B 2 sin x
sin A
and tan
cos B
in (7), we have
 E0
Ip 2 R sin t arctan ,
2 2

R 2
R
E0
Ip sin t arctan . (8)
R
2 2
R
Now
I Ic I p ,
or
I c1e m1t
c2e m2t

E0
sin t arctan (9)
R
2 2
R
(Impedence)
Interpretation
As t , c1e c2 e 0 . Hence, the
m1t m2t

transient current I tend to the steady state

current and after some time the output will
practically be a harmonic oscillations.
Example
Find the charge on the capacitor in an LRC
series circuit when L = Henry, R = 20 Ohms,
C = 1/300 Farad, and E(t) = 0 Volts and q(0)
= 4 Coulombs and i(0) = 0 amperes. Is the
charge on the capacitor ever equal to zero?
Solution
Since
d 2q dq 1
L 2 R q E t
dt dt c

1
q 20q 300q 0
4

q 80q 1200q 0

The auxiliary equations is

m 80m 1200 0
2
 80 6400 4800
m
2
,

80 40
m
2
,

m 20, 60.

Hence
q t c1e 20t
c2e 60t

q t 20c1e 20t
60c2e 60t
Applying the initial condition q 0 4 and q 0 0
we obtain,
c1 6 and c2 2.
Therefore
q t 6e 20t
2e 60t

Setting q t 0 , we have
20 t 60 t
6e 2e 0

6e 20 t
2e 60 t
 e 40 t 1
,
3
1
t ln 3 0.
40
for t 0, the charge can never be equal to
zero.
Example
Find the charge on the capacitor and current in
an circuit when E t E0 cos t , q 0 q0 , i 0 i0 .
Solution
We know for L - C circuit
2
dq 1
L 2 q E t , ()
dt c
q t qc t q p t ,
 t t
qc t c1 cos c2 sin ,
Lc Lc
and
t t
q t c1 cos c2 sin q p t ,
Lc Lc
(1)

Let q p t A sin t B cos t ,

qp t A cos t B sin t ,

qp t A sin t B cos t
2 2
and using in ( * ), we obtain
A B
LA sin t LB cos t sin t cos t E0 cos t ,
2 2

c c

A B
LA sin t LB cos t E0 cos t ,
2 2

c c

A B
LA 0,
2
LB E0 ,
2

c c
E0
A 0. B .
1 Lc 2
Thus
E0c cos t
qp t
1 Lc 2
t t E0c cos t
q t c1 cos c2 sin 1 Lc 2 .
Lc Lc
Applying the condition q 0 q0, we get

E0c
q0 c1
1 Lc 2

E0c
c1 q0
1 Lc 2
Now
c1 t c2 t E0c sin t
q t cos sin 1 Lc 2 .
Lc Lc Lc Lc
Invoking the second condition i 0 i0, we get
c2
i0 , c2 i0 Lc .
Lc
Finally the solution of the problem is
E0 c t
q t q0 2
cos
1 Lc Lc
t E0 c cos t
i0 Lc sin ,
Lc 1 Lc 2
and d 1 E0 c t
i t q t q0 2
sin
dt Lc 1 Lc Lc
t E0 c sin t
i0 cos .
Lc 1 Lc 2

_______________________________________________________
Note that

Impedance
Impedance (symbol Z) is a measure of the
overall opposition of a circuit to current, in
other words: how much the circuit impedes
the flow of current. It is like resistance, but it
also takes into account the effects of
capacitance and inductance. Impedance is
measured in Ohms, symbol .
Reactance, X
Reactance (symbol X) is a measure of the
opposition of capacitance to current.
Reactance varies with the frequency of the
electrical signal. Reactance is measured in
Ohms, symbol .