Engr. Roan N.

Mamba
 For forced vibration, there is an applied force at any given
time F(t).
 For undamped vibration, the damped restoring force
Fd(t) = c v(t) is equal to zero
Spring-mass system
FBD
Lf Lf
Fs
Lf + L
L L

W x(t)
෍ 𝐹𝑦 = 0
𝐹𝑠 − 𝑊 = 0 F(t)
𝑘𝐿 − 𝑚𝑔 = 0 Eq 1
 Forces acting on the system
1. Applied force F(t)
Lf
2. Weight W = mg
Lf + L
3. Spring Force Fs(t) = - k [ L + x(t) ]
L
4. Damping Force Fd(t) = - c v(t)

Where:
x(t) m = mass c = coefficient of damping
k = spring stiffness g = gravity
Lf = free length of spring
F(t) L = displaced length after
the load m is applied
 The net force (Fnet) acting on the system

Lf 𝐹𝑛𝑒𝑡 = 𝐹 𝑡 + 𝑊 + 𝐹𝑠 𝑡 + 𝐹𝑑 𝑡
Lf + L
𝐹𝑛𝑒𝑡 = 𝐹 𝑡 + 𝑚𝑔 − 𝑘 𝐿 + 𝑥 𝑡 − 𝑐𝑣 𝑡
L
𝐹𝑛𝑒𝑡 = 𝐹 𝑡 + 𝑚𝑔 − 𝑘𝐿 − 𝑘𝑥 𝑡 − 𝑐𝑣 𝑡
𝑘𝐿 − 𝑚𝑔 = 0 From Eq 1
x(t)
𝐹𝑛𝑒𝑡 = 𝐹 𝑡 − 𝑘𝑥 𝑡 − 𝑐𝑣 𝑡
F(t)
𝐹𝑛𝑒𝑡 = 𝑚 𝑎 𝑡 Newton’s Second Law
 The net force (Fnet) acting on the system

Lf 𝑚 𝑎 𝑡 = 𝐹 𝑡 − 𝑘𝑥 𝑡 − 𝑐𝑥ሶ 𝑡
Lf + L
𝑎 𝑡 = 𝑥ሷ 𝑡 Acceleration at any given time
L
𝑣 𝑡 = 𝑥ሶ 𝑡 Velocity at any given time

𝑚𝑥ሷ 𝑡 = 𝐹 𝑡 − 𝑘𝑥 𝑡 − 𝑐 𝑥ሶ 𝑡
x(t)
Spring Mass System Equation
F(t) 𝑚𝑥ሷ 𝑡 + 𝑘𝑥 𝑡 + 𝑐 𝑥ሶ 𝑡 = 𝐹 𝑡
 Particular Solution
𝑚𝑥ሷ 𝑡 + 𝑘𝑥 𝑡 = 𝐹 𝑡
Let 𝑥𝑝 𝑡 = 𝐶3 sin 𝜔𝑡
𝑘 𝐹 𝑡 where:  = forcing frequency
𝑥ሷ 𝑡 + 𝑥 𝑡 =
𝑚 𝑚 𝑥ሶ 𝑝 𝑡 = 𝜔𝐶3 cos 𝜔𝑡
Complementary Solution 𝑥ሷ 𝑝 𝑡 = −𝜔2 𝐶3 sin 𝜔𝑡
𝑚𝑥ሷ 𝑡 + 𝑘𝑥 𝑡 = 0
𝑘 𝑘
𝑥𝑐 𝑡 = 𝐶1 cos 𝑡 + 𝐶2 sin 𝑡
𝑚 𝑚

𝑥𝑐 𝑡 = 𝐶1 cos 𝜔𝑛 𝑡 + 𝐶2 sin 𝜔𝑛 𝑡
Particular Solution 𝐹 𝑡
𝑥𝑝 𝑡 = 𝐶3 sin 𝜔𝑡 𝑚
𝐶3 =
𝑥ሶ 𝑝 𝑡 = 𝜔𝐶3 cos 𝜔𝑡 𝑘
sin 𝜔𝑡 − 𝜔2
𝑥ሷ 𝑝 𝑡 = −𝜔2 𝐶3 sin 𝜔𝑡 𝑚

𝑘 𝐹 𝑡 𝐹 𝑡
𝑥ሷ 𝑡 + 𝑥 𝑡 = 𝐶3 = 𝑚
𝑚 𝑚 𝑘 𝑚 2
sin 𝜔𝑡 1− 𝜔
2
𝑘 𝐹 𝑡 𝑚 𝑘
−𝜔 𝐶3 sin 𝜔𝑡 + 𝐶3 sin 𝜔𝑡 =
𝑚 𝑚
𝑘 𝐹 𝑡 since 𝑘
2 𝜔𝑛 2 =
𝐶3 sin 𝜔𝑡 −𝜔 =
𝑚 𝑚 𝑚
 𝐹 𝑡
𝐶3 = 𝑘
𝜔2
sin 𝜔𝑡 1 − 2
𝜔𝑛
where
𝑥𝑝 𝑡 = 𝐶3 sin 𝜔𝑡
𝐹 𝑡 𝐹 𝑡
𝑘 𝑥𝑝 𝑡 = 𝑘
𝑥 𝑡 = sin 𝜔𝑡
𝑝
𝜔2 𝜔2
sin 𝜔𝑡 1 − 1− 2
𝜔𝑛 2 𝜔𝑛
Therefore, the General Solution

𝑥 𝑡 = 𝑥𝑐 𝑡 +𝑥𝑝 𝑡
𝐹 𝑡
𝑥 𝑡 = 𝐶1 cos 𝜔𝑛 𝑡 + 𝐶2 sin 𝜔𝑛 𝑡 + 𝑘
𝜔2
1− 2
Transient vibration 𝜔𝑛

Steady state vibration

Assuming a sinusoidal time dependence of forcing where F(t) = FO sin(t)
where: FO = impressed force

𝐹𝑂 𝑠𝑖𝑛 𝜔𝑡
𝑥 𝑡 = 𝐶1 cos 𝜔𝑛 𝑡 + 𝐶2 sin 𝜔𝑛 𝑡 + 𝑘
𝜔2
1− 2
𝜔𝑛
where: FO / k = O (static deflection)

𝛿𝑂 𝑠𝑖𝑛 𝜔𝑡
𝑥 𝑡 = 𝐶1 cos 𝜔𝑛 𝑡 + 𝐶2 sin 𝜔𝑛 𝑡 + General Solution
𝜔2
1− 2
𝜔𝑛
Magnification Factor (MF) - the ratio of the amplitude of steady state vibration,
𝑥𝑚 to the static deflection, 𝛿𝑜 .
1
𝑥𝑚 𝑀𝐹 =
𝑀𝐹 = or 𝜔2
𝛿𝑜 1− 2
𝜔𝑛

When 𝜔 < 𝜔𝑛 , the coefficient of sin 𝜔𝑡 is positive or the forced vibration is in

phase with the impressed force.
When 𝜔 > 𝜔𝑛 , , the coefficient of sin 𝜔𝑡 is negative or the motion of the
block is out of phase with the force.
When 𝜔 = 𝜔𝑛 , the amplitude of the forced vibration becomes infinite or the
system is in resonance.
A motor weighing 300 N is supported by
four springs, each having a constant of
80 kN/m. The unbalance of the rotor is
equivalent to a weight of 8 N located 12 cm
from the axis of rotation. Knowing that the
motor is constrained to move vertically,
determine (a) the speed in rpm at which
resonance will occur and (b) the amplitude
of the vibration of the motor at a speed
of 1200 rpm.
a. resonance will occur when 𝜔 = 𝜔𝑛 ; the speed in rpm
Solving for 𝜔𝑛
𝑘 𝑔𝑘
𝜔𝑛 = =
𝑚 𝑊𝑚

9.81 m/s 2 4 x 80,000 N/m

𝜔𝑛 =
300 N
𝜔𝑛 = 102.294 rad/s

𝜔𝑛 = 102.294 rad/s 60 s/min 1rev/2π rad

𝜔𝑛 = 𝟗𝟕𝟔. 𝟖𝟑𝟔 𝐫𝐩𝐦 ← 𝐴𝑛𝑠𝑤𝑒𝑟

b. determine 𝑥𝑚 ; the amplitude of the motor
Solving for 𝜔; forcing frequency
𝜔 = 1200 rev/min min/60 s 2π rad/rev
𝜔 = 125.664 rad/s

Solving for 𝑚𝑢 ; unbalanced mass

𝑊𝑢
𝑚𝑢 =
𝑔
8N
𝑚𝑢 =
9.81 m/s 2

𝑚𝑢 = 0.815 kg
Solving for 𝐹𝑜 ; the centrifugal force
𝐹𝑜 = 𝑚𝑢 𝑟𝜔2
𝐹𝑜 = 0.815 kg 0.12 m 125.664 rad/s 2

𝐹𝑜 = 1,544.402 N

Solving for 𝑥𝑚
𝐹𝑜 1,544.402 N
𝑘 4 80,000 N/m
𝑥𝑚 = 2
= 2
𝜔 125.664 rad/s
1− 1−
𝜔𝑛 102.294 rad/s

𝑥𝑚 = −0.00948 or 0.00948 m out of phase ← 𝐴𝑛𝑠𝑤𝑒𝑟

The instrument shown in the figure is rigidly
attached to a platform 𝑃 which in turn is
supported by four springs, each having a
stiffness 𝑘 = 800 N/m. Initially the platform
is at rest when the floor is subjected to a
displacement 𝛿 = 10 sin 8𝑡 mm, where 𝑡 is in
seconds. If the instrument is constrained to
move vertically, and the total mass of the
instrument and platform is 20 kg, determine
(a) the vertical displacement 𝑦 of the
platform measured from the equilibrium
position, as a function of time and (b) the
floor vibration required to cause resonance.
a. Solving 𝑦; the equation of motion of the platform

𝛿𝑜 sin 𝜔𝑡
𝑦 = 𝐶1 sin 𝜔𝑛 𝑡 + 𝐶2 cos 𝜔𝑛 𝑡 + 2
𝜔
1−
𝜔𝑛
Let:
𝛿𝑜
𝑦𝑝 = 2 Solving 𝜔𝑛 (natural frequency)
𝑚𝑎𝑥 𝜔
1−
𝜔𝑛 𝑘
𝜔𝑛 =
𝑚
𝑦 = 𝐶1 sin 𝜔𝑛 𝑡 + 𝐶2 cos 𝜔𝑛 𝑡 + 𝑦𝑝 sin 𝜔𝑡 4 800 N/m
𝑚𝑎𝑥
𝜔𝑛 =
20 kg
𝜔𝑛 = 𝟏𝟐. 𝟔𝟒𝟗 𝐫𝐚𝐝/𝐬
𝑦 = 𝐶1 sin 𝜔𝑛 𝑡 + 𝐶2 cos 𝜔𝑛 𝑡 + 𝑦𝑝 sin 𝜔𝑡
𝑚𝑎𝑥
𝜔𝑛 = 12.649 𝑟𝑎𝑑/𝑠

Given: Solving for 𝑦𝑝 𝑚𝑎𝑥

𝛿 = 10 sin 8𝑡 mm,
𝛿𝑜
𝑦𝑝 =
Where: 𝑚𝑎𝑥 𝜔 2
1−
𝜔𝑛
𝛿𝑂 = 10 𝑚𝑚 10 mm
𝑦𝑝 = 2
𝜔 = 8 𝑟𝑎𝑑/𝑠 𝑚𝑎𝑥 8 rad/s
1−
12.649 rad/s
𝑦𝑝 𝑚𝑎𝑥
= 16.667 mm
𝑦 = 𝐶1 sin 𝜔𝑛 𝑡 + 𝐶2 cos 𝜔𝑛 𝑡 + 𝑦𝑝 sin 𝜔𝑡
𝑚𝑎𝑥

𝜔𝑛 = 12.649 𝑟𝑎𝑑/𝑠 𝜔 = 8 𝑟𝑎𝑑/𝑠 𝑦𝑝 𝑚𝑎𝑥

= 16.667 mm

𝑦 = 𝐶1 sin 12.649𝑡 + 𝐶2 cos 12.649𝑡 + 16.667 sin 8𝑡

Solving for C1 and C2

When 𝑡 = 0; 𝑦 = 0

0 = 𝐶1 sin(0) + 𝐶2 cos(0) + 16.667 sin(0)

𝐶2 = 0
𝑦 = 𝐶1 sin 12.649𝑡 + 𝐶2 cos 12.649𝑡 + 16.667 sin 8𝑡

Solving for C1 and C2

𝑦ሶ = 12.649 𝐶1 cos 12.649𝑡 − 12.649 𝐶2 sin 12.649𝑡 + 133.336 cos 8𝑡

When 𝑡 = 0, 𝑦ሶ = 0

0 = 12.649 𝐶1 cos(0) − 12.649 𝐶2 sin(0) + 133.336 cos(0)

0 = 12.649𝐶1 + 133.336 𝐶1 = −10.541
 𝑦 = 𝐶1 sin 12.649𝑡 + 𝐶2 cos 12.649𝑡 + 16.667 sin 8𝑡

𝐶1 = −10.541 𝐶2 = 0

Therefore:
𝑦 = −10.541 sin 12.649𝑡 +16.667 sin 8𝑡

b. Solving 𝜔; the forcing frequency where resonance will occur

𝜔 = 𝜔𝑛 = 𝟏𝟐. 𝟔𝟒𝟗 𝐫𝐚𝐝/𝐬

Consider the spring-mass system where the support undergoes the
prescribed harmonic displacement 𝑦 = 𝑌 sin 𝜔𝑡 as shown in the figure.
 Let:
𝑧 =𝑥−𝑦 or 𝑥 =𝑧+𝑦
𝑚 𝑧ሷ + 𝑦ሷ + 𝑘 𝑧 + 𝑦 = 𝑘𝑦
𝑚𝑧ሷ + 𝑚𝑦ሷ + 𝑘𝑧 + 𝑘𝑦 = 𝑘𝑦
෍ 𝐹 = 𝑚𝑎
𝑚𝑧ሷ + 𝑘𝑧 = −𝑚𝑦ሷ
𝑚g − 𝑘 𝛿 + 𝑥 − 𝑦 = 𝑚𝑥ሷ
Given that:
Since:
𝑚g = 𝑘𝛿 𝑦 = 𝑌 sin 𝜔𝑡
𝑦ሶ = 𝜔𝑌 cos 𝜔𝑡
𝑚𝑥ሷ + 𝑘𝑥 = 𝑘𝑦
𝑦ሷ = −𝜔2 𝑌 sin 𝜔𝑡
𝑚𝑧ሷ + 𝑘𝑧 = −𝑚𝑦ሷ and 𝑦ሷ = −𝜔2 𝑌 sin 𝜔𝑡
𝑧 → represents the position of the mass relative to the support

For the complementary solution 𝑧𝑐

For the particular solution; 𝑧𝑝
𝑚𝑧ሷ + 𝑘𝑧 = 0 or 𝑚𝑟 2 + 𝑘 = 0 Let:
𝑧𝑝 = 𝐶3 sin 𝜔𝑡
𝑘 𝑧ሶ𝑝 = 𝜔𝐶3 cos 𝜔𝑡
𝑧ሷ + 𝑧 = 0 𝑧ሷ𝑝 = −𝜔2 𝐶3 sin 𝜔𝑡
𝑚
Therefore:
𝑘
𝑟= − = ±𝜔𝑛 𝑖 −𝑚𝜔2 𝐶3 sin 𝜔𝑡 + 𝑘𝐶3 sin 𝜔𝑡 = 𝑚𝜔2 𝑌 sin 𝜔𝑡
𝑚
𝑧𝑐 = 𝐶1 sin 𝜔𝑛 𝑡 + 𝐶2 cos 𝜔𝑛 𝑡
−𝑚𝜔2 𝐶3 sin 𝜔𝑡 + 𝑘𝐶3 sin 𝜔𝑡 = 𝑚𝜔2 𝑌 sin 𝜔𝑡

𝐶3 𝑘 − 𝑚𝜔2 = 𝑚𝜔2 𝑌 Since:

𝑚 1
𝑚𝜔2 𝑌 = 2
𝐶3 = 𝑘 𝜔𝑛
𝑘 − 𝑚𝜔 2
2
Therefore:
𝑚𝜔 𝑌 𝜔 2
𝐶3 = 𝑚
𝑘 1 − 𝜔2 𝜔2
𝑘 𝐶3 = 𝑌 2
𝜔
1−
𝑚𝜔2 𝑌 𝜔𝑛
𝐶3 = 𝑘 𝑎𝑚𝑝𝑙𝑖𝑡𝑢𝑑𝑒 𝑜𝑓 𝑡ℎ𝑒 𝑠𝑡𝑒𝑎𝑑𝑦 𝑠𝑡𝑎𝑡𝑒 𝑣𝑖𝑏𝑟𝑎𝑡𝑖𝑜𝑛
𝑚 2
1− 𝜔
𝑘
 𝑧𝑝 = 𝐶3 sin 𝜔𝑡 Hence:
𝑧𝑐 = 𝐶1 sin 𝜔𝑛 𝑡 + 𝐶2 cos 𝜔𝑛 𝑡
𝜔 2
𝜔2
𝑧𝑝 = 𝑌 2
sin 𝜔𝑡
𝜔
1−
𝜔𝑛
The general solution or the equation of motion of the mass will be

𝑧 = 𝑧𝑐 + 𝑧𝑝
𝜔 2
𝜔2
𝑧 = 𝐶1 sin 𝜔𝑛 𝑡 + 𝐶2 cos 𝜔𝑛 𝑡 + 𝑌 2
sin 𝜔𝑡
𝜔
1−
𝜔𝑛
When the mass 𝑚 is attached to the
end of a light electric rod, its static
deflection is 15.23 mm. The sliding
collar supporting the rod is then
given a vertical displacement of
amplitude 8.20 mm at a circular
frequency of 20 rad/s. Determine
the steady-state amplitude of the
mass relative to the collar.
Solving for C3; the steady state amplitude of the mass relative to the collar
𝜔 2
𝜔𝑛 Given:
𝐶3 = 𝑌 2 𝛿 = 15.23 mm or 0.01523 m
𝜔
1− 𝑌 = 8.20 mm or 0.082 m
𝜔𝑛
𝜔 = 20 rad/s

𝑊 𝑚𝑔
𝑘= = 𝑘
𝛿 𝛿 𝜔𝑛 =
𝑚
𝑚 9.81 m/s 2
𝑘= 644.123𝑚
0.01523 m =
𝑚
𝑘 = 644.123𝑚 𝜔𝑛 = 25.380 rad/s
Solving for C3; the steady state amplitude of the mass relative to the collar
𝜔 2
𝜔𝑛 Given:
𝐶3 = 𝑌 2 𝛿 = 15.23 mm or 0.01523 m
𝜔
1− 𝑌 = 8.20 mm or 0.082 m
𝜔𝑛
𝜔 = 20 rad/s
20 2 𝜔𝑛 = 25.380 rad/s
𝐶3 = (0.082) 25.38
2
20
1−
25.38

𝐶3 = 13.435 𝑚𝑚
1. The 20 lbm block is attached to a spring having a stiffness of 20 lbf /ft.
A force 𝐹 = 6 cos 2𝑡 lbf where 𝑡 is in seconds, is applied to the block.
Determine the maximum speed of the block after frictional forces
cause the free vibration to dampen out. 𝐴𝑛𝑠𝑤𝑒𝑟: 𝑣𝑚 = 0.685 ft/sec
2. The spring mass system is at rest in the equilibrium position 𝑥 = 0
when the harmonic force 𝐹 = 𝐹𝑜 sin 𝜔𝑡 is applied at 𝑡 = 0, where 𝐹𝑜 =
100 N and 𝜔 = 25 rad/s. Determine a the expression for the
displacement 𝑥, b the magnification factor, and c the maximum
value of 𝑥.
3. A motor of mass 9 kg is supported by four springs, each at constant
stiffness of 20 kN/m. The motor is constrained to move vertically, and
the amplitude of its movement is observed to be 1.2 m at a speed of
1200 rpm. Knowing that the mass of the rotor is 2.5 kg, determine the
distance between the mass center of the rotor and the axis of the
shaft. 𝐴𝑛𝑠𝑤𝑒𝑟: 𝑟 = 1.888 mm
4. The block of weight 2.4 lbf is connected to the shaker table by a spring
of stiffness12 lbf /in. The system is at rest with the spring undeformed
when the harmonic displacement 𝑦 = 0.25 sin 60𝑡 in. is imposed on the
table. Determine the displacement of the weight relative to table as a
function of time. 𝐴𝑛𝑠𝑤𝑒𝑟: 𝑧 = (0.737 sin 43.960𝑡 − 0.540 sin 60𝑡) in.
5. The spring mounted mass is driven by the force 𝐹 = 100 sin 𝜔𝑡.
Calculate the two values of 𝜔 for which the amplitude of the
steady-state vibration is 50 cm.