Vibration Lectures4

10/12/2016
FORCED VIBRATIONS
Assad Anis, NED University of Engineering & Technology- Pakistan
FORCED VIBRATIONS
A mechanical system is often subjected to external forces.
External forces may be harmonic, non-harmonic but periodic, non-periodic but having a
These excitations are generally in the form of displacements, initial velocities or both.
defined form or random.
The response of a system to such excitations or forces is called forced response.

The response of a system to a harmonic excitation is called harmonic response.
The non-periodic excitations may have a long or short duration.
The response of a system to suddenly applied non-periodic excitations is called transient

response.
FORCED VIBRATIONS OF UNDAMPED SYSTEMS
The simplest vibrating system is an undamped

system. Figure shows a simple undamped singledegree-of-freedom spring-mass system under a time
varying harmonic external force given by:
F (t ) F0 sin t or F0 cos t
F0 the force amplitude
the circular frequency of the

forcing function
Applying Nweton ' s sec ond law of motion
mx k ( x ) mg F (t )
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FORCED VIBRATIONS OF UNDAMPED

SYSTEMS
F (t ) F0 sin t or F0 cos t
F0 the force amplitude
the circular frequency of the forcing function

Applying Nweton ' s sec ond law of motion
mx k ( x ) mg F (t )
k mg gives
x
k
F (t )
x
(1)
m
m

SYSTEMS
Equation (1) is a non-homogenous, second

order differential equation with constant
coefficient. Hence, the complete solution is the
sum of a homogenous solution xh (t) and a
particular solution xp (t), such that
x (t ) x h ( t ) x p (t )
xh
k
x h 0 ( 2)
m

SYSTEMS
k
F
x p 0 cos t (3)
m
m
Equation(2) is the differential equation of motion for free vibration
xp
of a simple harmonic oscillator , for which the solution as det er min ed
in previous chapter is
xh (t ) A1 cos n t A2 sin n t (4)
where
k
as before
m
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SYSTEMS
In order to obtain the particular solution of equation (3) note

that the exciting force F(t) is harmonic, the particular solution
xp (t) is also harmonic and has the same frequency .Thus, we
assume a solution in the form
x p (t ) X cost (5)
Where X is an unknown constant, which must be obtained
such that the assumed solution does in fact satisfy the
differential equation.
X denotes the maximum amplitude of xp (t), substituting

equation (5) into (3)

SYSTEMS
X
OR
X
F0

m ( 6)
k
2

m
F0
F0

k
k
( A)
2
m

1 2 1

k
n

SYSTEMS
Hence the particular solution is given
F0 cos t
(7 )
2
k 1
n
complete solution is
x p (t )
x (t ) A1 cos nt A2 sin n t
F0 cos t
(8)
2
k 1
n
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SYSTEMS
The constants A1 and A2 in equation (8) are

evaluated by applying the initial conditions
x(0) x0 , x (0) x0
A1 x0
A2
x0
F0
k m 2
10

SYSTEMS
Hence the complete solution is
x
F0
F0 cos t
x(t ) x0
(9)
cos t 0 sin t
k m 2
2
n
k 1
n
The maximum amplitude in equation (A) can

also be expressed as
X
1
(10)
2
1
n
F0
st , static deflection of the mass under force F0 .
k
st
11

SYSTEMS
The quantity represents the ratio of the dynamic to static

amplitude of motion and is called the magnification factor,
amplification factor, or amplitude ratio.
Rewriting equation (9) with the equivalent form, we obtain
x(t ) X cos(t )
F0 cos t

k 1
n
X & are amplitude and phase angle of free vibration
2
response.

if frequency ratio r
n
X
st
1 r 2
12
10/12/2016

SYSTEMS
CASE # 1, Frequency Ratio, r < 1

n
If r<1, then
This clearly means that the free vibration portion of the motion
of the mass will complete several cycles in a time required for
one cycle of the forced response as shown in figure below.
13

SYSTEMS

If / n , X 0
CASE # 2, Frequency Ratio, r > 1

If r >1, then
n
Response of a system to a harmonic force of very high

frequency is close to zero.
14

SYSTEMS
CASE # 3, Frequency Ratio, r = 1

If r =1, then n
Resonance Occur.
15
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PROBLEM
A weight of 50 N is suspended from a spring of

stiffness 5000 N/m and is subjected to a harmonic
force of amplitude 40 N and frequency of 4 Hz.
Find the following:
a) the extension of the spring due to the suspended
weight
b) the static displacement of the spring due to the
maximum applied force
c) the amplitude of the forced motion of the weight
16
PROBLEM
A 50 kg mass is hanging from a spring of

stiffness 50000 N/m. A harmonic force of
magnitude 100 N and frequency 100 rad/sec is
applied to the system. Determine the
following:
a) The amplitude of the forced response
b) The natural frequency of the system
17
PROBLEM
A 5 kg mass is placed at the end of 3 cm steel beam as shown
in fig. The youngs modulus of elasticity of the steel is 200 x
109 N/m2 and the moment of inertia of the beam is 1 x 10-8 m4.
When excited by a harmonic excitation of magnitude 150 N, a
vibration amplitude of 0.5 mm is observed. Determine the
frequency of the excitation.
18
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FORCED VIBRATIONS OF DAMPED SYSTEMS
Consider a viscously damped single-degree-of-freedom spring-mass system

shown in fig. subjected to a harmonic function
Where F0 is the force amplitude and

is the circular frequency of the forcing
function. By applying Newtons second law to the free-body diagram and
utilizing the equilibrium condition
We obtain
F (t ) F0 sin t
mg k
mx kx cx F0 sin t
x
F
c
k
x x 0 sin t (1)
m
m
m
19
20
FORCED VIBRATIONS OF DAMPED

SYSTEMS
Equation (1) is a non-homogenous equation. The

particular solution or the steady state solution xp can
be in the form
x p A1 sin t A2 cos t (2)
which gives the following equations for the velocity
and acceleration
x p A1 cos t A2 sin t (3)
xp A1 2 sin t A2 2 cos t 2 x p (4)
substituting eq(2), (3) and (4) int o eq(1)
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( k 2 m )( A1 sin t A 2 cos t ) c ( A1 cos t A 2 sin t ) F0 sin t
OR
( k
m ) A1 c A2 sin t c A1 ( k 2 m ) A2 cos t F0 sin t ( 5 )
Comparing
coefficien ts
( k 2 m ) A1 c A2 F0 ( 6 )
c A1 ( k 2 m ) A2 0 ( 7 )
OR
(1 r 2 ) A1 2 r A2 X 0 ( 8 )
2 r A1 (1 r 2 ) A2 0 ( 9 )
r
c
c
F
,
,X0 0
n
Cc
2m n
k
Solving for A1 and A 2 , we get
22
Hence the steady state solution xp can be written as

1 r 2 X 0
A1
1 r 2 2 2 r 2
2 r X 0
A2
1 r 2 2 2 r 2
X0
1 r 2 sin t 2 r cos t
xp
1 r 2 2 2 r 2
OR
X0
xp
sin t
1 r 2 2 2 r 2
23

Where
X 0 is the amplitude
and is the phase angle defined by
2 r
2
1 r
Solution may also be written as
tan
x p X 0 sin t
magnificat ion factor

1 r 2 r
2 2
The magnificat ion factor depends upon
1 . The frequency
2 . The damping
ratio , / n
factor ,
24
10/12/2016
Observations
For r 0, M .F ( ) 1
For r 1, all values of decreases
r 1,
Decrease in is significant near or at resonance
For r , 0
Max. value of occur at r 1 2 2

r 1 2 2 gives
1 2 2
n
n 1 2 2 means n d n 1 2 n 1 2 2
max
2 1 2
Observations- Phase Angle
10/12/2016

The maximum value for magnification factor is
obtained by taking the first derivative of
magnification factor w.r.t r and setting the result
equal to zero.
The magnification factor is found to be maximum
when
r 1 2 2
The max . magnification factor will be

1
2 1 2
28

EFFECT OF FREQUENCY RATIO
Case # 1,
1
n
Both the inertia and damping forces are
small resulting in small phase angle .The
magnitude of the exciting force ( F0 ) is

nearly equal to the spring force ( kx ).
29
Case # 2,
1
n
The phase angle 90 0.The inertia
force, which is l arg e, is balanced by
the spring force.The exciting force

overcomes the damping force.
30
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10/12/2016
Case # 3,
1
n
The phase angle approaches1800.The inertia

force, which is l arg e, is balanced by
the spring force.The exciting force
overcomes the damping force.
31
PROBLEM
A single-degree-of freedom system springmass-damper system is subjected to a

harmonic force. The amplitude is found to be
25 mm at resonance and10 mm at a frequency
0.75 times the resonant frequency. Determine
the damping ratio of the system.
32
PROBLEM
A single degree of freedom is composed of a mass of 10 kg, a

spring having a spring constant of 2000 N/m, and a dashpot
having a damping constant of 50 Ns/m. The mass of the
system is acted on by a harmonic force
F F0 sin t
having a maximum value of 250 N and a frequency

of 5 Hz. Determine the complete solution for the
motion of the mass.
Assume complete solution as
x A sin 1 2 n t e nt X sin(t )
33
11
10/12/2016
PROBLEM
A harmonic force of amplitude 200 N and frequency 5 Hz acts

on the mass of the damped single-degree-of-freedom system
having m = 10 kg, k = 2000 N/m, and c = 50 Ns/m. Determine
the complete solution representing the motion of the mass if
the initial displacement and velocity of the mass are 10 mm
and 5 m/s respectively.
Assume complete solution as
x (t ) X 0 e n t cos(d t 0 ) X cos(t )
34
PROBLEM
When a 20 kg recording device is mounted on

an isolator, the deflection of the isolator is 50
mm. An unbalanced force of 20 N is produced
when the recording device is operated at 20
rad/sec, and the amplitude of the vibrating
system is 2 mm. Determine the damping ratio
of the system.
35
PROBLEM
A 25 kg mass is mounted on an isolator whose

stiffness is 5 X 105 N/m. When the system is
subjected to harmonic excitation of magnitude 300 N
and frequency 100 rad/sec, the phase difference
between the excitation and the steady-state response
is 25 deg. Determine
(a) the damping ratio of the isolator pad
(b) the isolator pads maximum deflection due to
this excitation.
36
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10/12/2016
RESPONSE OF DAMPED SYSTEM UNDER BASE

EXCITATION
In many mechanical systems such as vehicles
mounted on a moving support or base, the forced

vibration of the system is due to the moving support
or base. The motion of the support or base causes the

forces to be transmitted to the mounting equipment.
37

EXCITATION
Figure shows a damped single-degree of

freedom mass-spring system with the moving
support or base.
38

EXCITATION
The support motion y is assumed to be harmonic and

the displacement of the mass is measured from its
equilibrium position.
Letting y Y0 sin t and applying Newtons 2nd Law
to the free-body diagram of the mass as shown in fig
and assuming x > y, the equation of motion of the
mass is
mx k ( x y ) c ( x y )
mx cx kx ky cy
39
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10/12/2016
RESPONSE OF DAMPED SYSTEM UNDER

BASE EXCITATION
By u sin g y Y0 sin t
mx cx kx kY0 sin t cY0 cos t
RHS of equation
kY0 sin t cY0 cos t Y0 k 2 c sin t b

2
Phase angle b is given by
c
1
tan (2r )
k
b tan 1
40
RESPONSE OF DAMPED SYSTEM UNDER

BASE EXCITATION
2
mx cx kx Y0 k 2 c sin t b
c
mx cx kx Y0 k 1
sin t b
k
2
2
mx cx kx Y0 k 1 2r sin t b
41

EXCITATION
The equation is similar to equation that we derived previously

for damped forced vibration, therefore the steady state
particular solution is
Phase
1 2 r
Y0
1 r
x p (t )
2 r
angle is given by
2 r
2
1 r
x p ( t ) Y 0 b sin t b
tan
b
1 2 r
1 r
2
sin t b
2 r
42
14
10/12/2016

EXCITATION
The force carried by the support can be obtained by

using the free-body diagram shown in figure as
F t k ( x y ) c ( x y ) m x
Differenti
ating solution
F t mY 0 b 2 ( t b )
Ft
n2
Y 0 b 2 ( t b )
F t Y 0 k b r 2 ( t b )
43
PROBLEM
A 50 kg mass is attached to a base through a spring in parallel

with a damper as shown in figure. The base undergoes a
harmonic excitation of y(t) = 0.20 sin 30t. The stiffness of the
spring is 30000 N/m and the damping constant is 200 Ns/m.
Determine (a) amplitude of masss absolute displacement
44
PROBLEM
A racing car is modeled as a single degree-of-freedom damped
system vibrating in the vertical direction. The elevation of the road

is assumed to vary sinusoid ally. The distance from peak to trough is
0.2 m and the distance between the peaks is 70 m. The natural

frequency of the system is 2 Hz and the damping ratio of the
dampers is 0.15. Determine (a) the amplitude of vibration of the

racing car at a speed of 120 km/hr (b) the most unfavorable speed of
the racing car if the speed of the racing car varies.
45
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10/12/2016
VIBRATION ISOLATION & FORCE

TRANSMISSIBILITY
A force associated with the vibrations of a machine or
structure will be transmitted to its supporting
structure.
These transmitted forces in most instances produce
undesirable effects such as noise.
Machines and structures are generally mounted on
designed flexible supports known as vibration
isolators.
46

TRANSMISSIBILITY
An isolation system attempts either to protect a

delicate object from excessive vibration
transmitted to it from its supporting structure or to
prevent vibratory forces generated by machines
from being transmitted to its surroundings.
In order to reduce the force transmitted to the
support structure, a proper selection of the
stiffness and damping coefficients must be made.
47

TRANSMISSIBILITY
Figure shows a damped spring-mass system

subjected to a harmonic force.
The forces acting on the support are shown in
free body diagram.
48
16
10/12/2016

TRANSMISSIBILITY
The force transmitted to the sup port can be written as

FT kx p cx p
xp is used from base excitation
FT kX 0 sin(t ) cX 0 cos(t )
X 0 k 2 c sin(t t )
2
c
1
tan (2r )
k
t tan 1
FT X 0 k 1 2r sin(t t )
2
49

TRANSMISSIBILITY
FT F0 1 2r sin(t t )
2
FT F0 t sin(t t )
t 1 2r
2
1 2r
1 r 2r
2 2
Transmissibility is defined as the ratio of the max imum

transmitted force to the amplitude of the applied force.
50
t 1, r 2
In this region, the forced

transmitted is greater than
amplitude of applied force.
The transmitted force to the
support can be reduced by
increasing the damping factor.
t 1, r 2
t 1, r 2
In this region the amplitude of

force transmitted is less than
amplitude of applied force.
The amplitude of transmitted
force increases with damping
factor.
51
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10/12/2016
a)
b)
c)
d)
a)
PROBLEM
A machine of mass 100 kg is mounted on springs and damper as shown in

fig. The total spring stiffness is 50,000 N/m and the damping factor 0.2.
A harmonic force F = 500 sin 13.2 t acts on the mass. For the sustained or
steady-state vibration of the system, determine:
the amplitude of the motion of the machine
the phase with respect to the exciting force
transmissibility
The maximum dynamic force transmitted
to the foundation
The maximum velocity of the motion
52
18

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10/12/2016

Assad Anis, NED University of Engineering & Technology- Pakistan

A mechanical system is often subjected to external forces.

The response of a system to such excitations or forces is called forced response.

The response of a system to suddenly applied non-periodic excitations is called transient

Assad Anis, NED University of Engineering & Technology- Pakistan

FORCED VIBRATIONS OF UNDAMPED SYSTEMS

The simplest vibrating system is an undamped

the circular frequency of the

Applying Nweton ' s sec ond law of motion

Assad Anis, NED University of Engineering & Technology- Pakistan

FORCED VIBRATIONS OF UNDAMPED

the circular frequency of the forcing function

FORCED VIBRATIONS OF UNDAMPED

Equation (1) is a non-homogenous, second

Assad Anis, NED University of Engineering & Technology- Pakistan

FORCED VIBRATIONS OF UNDAMPED

of a simple harmonic oscillator , for which the solution as det er min ed

xh (t ) A1 cos n t A2 sin n t (4)

FORCED VIBRATIONS OF UNDAMPED

In order to obtain the particular solution of equation (3) note

X denotes the maximum amplitude of xp (t), substituting

Assad Anis, NED University of Engineering & Technology- Pakistan

FORCED VIBRATIONS OF UNDAMPED

Assad Anis, NED University of Engineering & Technology- Pakistan

FORCED VIBRATIONS OF UNDAMPED

Hence the particular solution is given

Assad Anis, NED University of Engineering & Technology- Pakistan

FORCED VIBRATIONS OF UNDAMPED

The constants A1 and A2 in equation (8) are

Assad Anis, NED University of Engineering & Technology- Pakistan

FORCED VIBRATIONS OF UNDAMPED

Hence the complete solution is

The maximum amplitude in equation (A) can

Assad Anis, NED University of Engineering & Technology- Pakistan

FORCED VIBRATIONS OF UNDAMPED

The quantity represents the ratio of the dynamic to static

Assad Anis, NED University of Engineering & Technology- Pakistan

FORCED VIBRATIONS OF UNDAMPED

CASE # 1, Frequency Ratio, r < 1

Assad Anis, NED University of Engineering & Technology- Pakistan

FORCED VIBRATIONS OF UNDAMPED

CASE # 2, Frequency Ratio, r > 1

Response of a system to a harmonic force of very high

Assad Anis, NED University of Engineering & Technology- Pakistan

FORCED VIBRATIONS OF UNDAMPED

CASE # 3, Frequency Ratio, r = 1

Assad Anis, NED University of Engineering & Technology- Pakistan

A weight of 50 N is suspended from a spring of

A 50 kg mass is hanging from a spring of

Assad Anis, NED University of Engineering & Technology- Pakistan

FORCED VIBRATIONS OF DAMPED SYSTEMS

Consider a viscously damped single-degree-of-freedom spring-mass system

Where F0 is the force amplitude and

Assad Anis, NED University of Engineering & Technology- Pakistan

Assad Anis, NED University of Engineering & Technology- Pakistan

FORCED VIBRATIONS OF DAMPED

Equation (1) is a non-homogenous equation. The

which gives the following equations for the velocity

xp A1 2 sin t A2 2 cos t 2 x p (4)

substituting eq(2), (3) and (4) int o eq(1)

Assad Anis, NED University of Engineering & Technology- Pakistan

FORCED VIBRATIONS OF DAMPED SYSTEMS

( k 2 m )( A1 sin t A 2 cos t ) c ( A1 cos t A 2 sin t ) F0 sin t