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Second Order DEs
Second Order DEs
Chapter 4
Chapter Outlines
Review solution method of second order, homogeneous
ordinary differential equations
Applications in free vibration analysis
- Simple mass-spring system
- Damped mass-spring system
Review solution method of second order, non-homogeneous
ordinary differential equations
- Applications in forced vibration analysis
- Resonant vibration analysis
- Near resonant vibration analysis
Modal analysis
Part 1
Typical form
d 2u ( x )
du ( x)
+
a
+ bu ( x) = 0
dx 2
dx
(4.1)
u(x) = emx
in which m = constant to be determined
If the assumed solution u(x) in Equation (4.2) is valid solution, it must SATISFY the
DE in Equation (4.1). That is:
( )
( ) ( )
d 2 e mx
d e mx
+a
+ b e mx = 0
2
dx
dx
Because:
( )
d 2 e mx
2 mx
=
m
e
2
dx
(a)
( )
mx
d
e
and
= me mx
dx
Upon substitution of the above into Equation (a) leading to: m 2 e mx + a m e mx + b e mx = 0
) ( )
m2 + am + b = 0
Equation (4.3) is a quadratic equation, and its solution for m are:
(4.3)
m2 + am + b = 0
The TWO roots of the above quadratic equation have the forms:
a 1 2
a 1 2
m1 = +
a 4b
and
m2 =
a 4b
2 2
2 2
This leads to two possible solutions for the function u(x) in Equation (4.1):
u ( x ) = c1 e m1x + c2 e m2 x
(4.4)
(4.5)
where c1 and c2 are the TWO arbitrary constants to be determined by TWO specified
conditions, and m1 and m2 are expressed in Equation (4.4)
Because the constant coefficients a and b in Equation (4.1) are fixed with the DE,
the relative magnitudes of the a, b will result in significant forms in the solution in
Equation (4.5) due to the square root parts in the expression of m1 and m2 in
Equation (4.4). Square root of a negative number will lead to a complex number in
the solution of the DE, which requires a special way of expressing it.
We thus need to look into 3 possible cases involving relative magnitudes
a and b.
Case 1.
a2 4b > 0:
In such case, we realize that both m1 and m2 are real numbers. The solution of the
Equation (4.1) is:
ax
2
c e a 2 4b x / 2 + c e a 2 4b x / 2
(4.6)
2
1
Case 2.
a2 - 4b < 0:
As described earlier, both these roots become complex numbers involving imaginary parts.
The substitution of the m1 and m2 into Equation (4.5) will lead to the following:
u ( x) = e
u ( x) = e
ax
2
ix
c1 e 2
4b a 2
+ c2e
ix
4b a 2
2
(4.7)
in which . i = 1
The complex form of the solution in Equation (4.7) is not always easily comprehended
and manipulative in engineering analyses, a more commonly used form involving
trigonometric functions are used:
u ( x) = e
ax
2
1
2
A
Sin
4
b
a
1
4b a 2
x + B Cos
x (4.8)
Case 3.
a2 - 4b = 0:
and
m2 =
a 1 2
a 4b
2 2
(b)
u ( x) = (c1 + c2 ) e
a
x
2
or u1 ( x) = ce
a
x
2
with only ONE term with a constant in the solution, which is not complete for a 2nd order DE.
So, we will have to find the missing term in the solution u(x).
Realizing the fact that the assumed solution u(x) = emx in Equation (4.2) results in one
missing term, we need to find another assumed solution. Let us try the following:
u2(x) = V(x) emx
(4.9)
The DE:
d 2u ( x )
du ( x)
+
a
+ bu ( x) = 0
2
dx
dx
u2(x) = V(x) emx
] [
d 2 V ( x )e mx
d V ( x )e mx
mx
(
)
+
a
+
b
V
x
e
=0
2
dx
dx
(c)
d V (x )e mx
dV ( x )
= mV ( x )e mx + e mx
dx
dx
2
d 2 V ( x )e mx
mx
mx dV ( x )
mx dV ( x )
mx d V ( x )
+ me
+e
= m mV ( x )e + e
2
dx
dx
dx
dx 2
dV ( x)
d 2V ( x)
+
(
2
+
)
+ m 2 + am + b V ( x) = 0
m
a
2
dx
dx
(4.10)
dx
= 0
d 2u ( x )
du ( x)
+
a
+ bu ( x) = 0
dx 2
dx
in Case 3 with a2 4b = 0 as:
u2 ( x ) = V ( x)e mx = xe mx = xe
ax
2
u ( x) = c1 e
ax
2
+ c2 x e
ax
2
= (c1 + c2 x )e
ax
2
(4.12)
The equation:
(4.1)
The solutions
Case 1: a2 4b > 0:
u ( x) = e
ax
2
c e
1
a 2 4b x / 2
+ c2 e
a 2 4b x / 2
(4.6)
Case 2: a2 - 4b < 0:
u ( x) = e
ax
2
1
1
2
2
A
Sin
4
b
a
x
B
Cos
4
b
a
+
2
2
Case 3: a2 - 4b = 0:
u ( x) = c1 e
(4.8)
A special case
ax
2
+ c2 x e
ax
2
= (c1 + c2 x )e
ax
2
(4.12)
where c1, c2, A and B are arbitrary constants to be determined by given conditions
d 2 u ( x)
du ( x)
+
5
+ 6u ( x) = 0
dx
dx 2
Solution:
We have a = 5 and b = 6, by comparing Equation (a) with the typical DE in Equation (4.1).
This will lead to:
a2 4b = 52 -4x6 = 25 24 = 1 > 0 - a Case 1 situation with
a 2 4b = 1 = 1
u ( x) = e
or
ax
2
c e
1
a 2 4b x / 2
+ c2 e
a 2 4b x / 2
u (x ) = e 5 x / 2 c1 e x / 2 + c2 e x / 2 = c1 e 2 x + c2 e 3 x
Example 4.2 solve the following equation with given conditions (p. 84):
d 2 u ( x)
du ( x)
+
6
+ 9u ( x) = 0
dx
dx 2
with given conditions:
u(0) = 2
and
du ( x)
dx
Solution:
(a)
(b)
(c)
=0
x =0
Again by comparing Equation (a) with the typical DE in Equation (4.1), we have: a = 6 and b = 9.
Further examining a2 4b = 62 4x9 = 36 36 = 0, leading to special Case 3 in Equation (4.12) for
the solution:
ax
ax
ax
(4.12)
u ( x) = c e 2 + c x e 2 = c + c x e 2
1
or
(1
u ( x) = (c1 + c 2 x )e
6
x
2
= (c1 + c 2 x )e 3 x
Use Equation (b) for Equation (d) will yield c1 = 2, leading to:
u ( x ) = (2 + c2 x )e 3 x
(d)
(e)
Differentiating Equation (e) with condition in Equation will lead to the following manipulation:
du ( x )
= e 3 x (c2 ) 3e 3 x (2 + c2 x )
dx x =0
x =0
= c2 6 = 0
u ( x) = 2(1 + 3 x )e 3 x
Part 2
Application of 2nd Order Homogeneous
DEs for Mechanical Vibration Analysis
Amplitudes
Time, t
Amplitude
0
Period
Time, t
Amplitude
Period
Time, t
0
Vibration isolators
Design of vibration isolators requires analyses to quantify the amplitudes and periods of the
vibratory motion of the mechanical system a process called mechanical vibration analysis
Mass
Springs
Mass
Spring &
Damper
C. Modal analysis
To identify natural frequencies of a solid machine at various modes of vibration
Mass
m
=
k
Mass
m
Spring:
Cable
or rod
Mass
Applied force
F
Complex System
Springs:
Support Structure
Mass
Spring:
Elastic beam
Masses:
Masses of the
bridge structure
k
k
Mass
m
The physical phenomena of solids in free vibration is that the vibration of solid is
produced by an instantaneous disturbance either in the form of a force or deformation
of the supporting spring.
Mass
m
Disturbance causes
vibration of the mass
Spring Constant
k
Mathematical Formulation of
Simple Mass-Spring Systems in Free Vibration
Mass
m
k
k
Mass
m
Mass
m
Stretching of Spring
at t is:h + y(t)
-y(t)
Mass
m
+y(t)
Sign convention:
+ve downward
Staticstretched
(b) Statically
Equilibrium
spring
Stretching of Spring
at t is:h + y(t)
Mass
m
Mass
m
-y(t)
+y(t)
Displacement
+y(t):
Position at time t
+y
(c) A vibrating
mass at time t
Dynamic
Spring force
Fs = kh
Equilibrium at time t
+ Fy = W Fs = 0
mg = kh
Weight
W = mg
m
Weight
W = mg
+ [ F (t ) Fs + W ] = 0
d 2 y (t )
d 2 y (t )
m
k [h + y (t )] + mg = 0
dt 2
But mg = kh from the static equilibrium condition, after substituting it into the above equation, we have the
following 2nd order differential equation for the instantaneous position y(t) for the vibrating mass:
d 2 y (t )
m
+ k y (t ) = 0
dt 2
(4.14)
d 2 y (t )
m
+ k y (t ) = 0
dt 2
y(t)
Mass
m
(4.14)
Mass
m
d 2 y (t ) k
+ y (t ) = 0
dt 2
m
y(t)
y
(4.14a)
The solution of Equation (4.14) can be obtained by comparing Equation (4.14a) with the typical 2nd
order DE in Equation (4.1):
d 2u ( x )
du ( x)
+
a
+ bu ( x) = 0
(4.1)
2
dx
dx
We may find that a = 0 and b = k/m after the comparison. The solution of Equation depends on the
discriminator: a2 4b. Since k = spring constant-a property of the spring and m = mass of the
vibrating solid, the equivalent coefficient b is a +ve real number. Consequently, we have:
a2 4b = 0 4(k/m) < 0, which is a Case 2 for the solution, as shown in Equation(4.8)
y (t ) = A Cos
k
k
t + B Sin
t
m
m
(4.15)
d 2 y (t )
m
+ k y (t ) = 0
dt 2
y(t)
Mass
m
(4.14)
Mass
m
d 2 y (t ) k
+ y (t ) = 0
dt 2
m
y(t)
y
(4.14a)
y (t ) = c1 Cos o t + c2 Sin o t
(4.16)
o =
k
m
(4.16a)
The o in Equation (4.16a) is called the circular, or angular frequency of the mass-spring vibration
system. Often its represents the natural frequency of the system. The unit is Rad/s.
Corresponding to the angular frequency o is the real frequency of the vibration:
f =
o
1
=
2
2
k
m
(4.17)
Mathematical solution:
y (t ) = c1 Cos o t + c2 Sin o t
y(t)
Mass
m
k
k
Mass
m
y(t)
y(0) = Initial
deflection of
The spring
Amplitude, y(t)
(4.16)
Max. amplitude
Period =
2
k
m
Time, t
Example 4.3 An unexpected case for engineers to consider in their design and operation of an
unloading process.
Elastic cable with
k = 6000 lbf/in
Elastic
Cable
Spring
Constant
k = 6000 lb/in
Mass:
800/32.2
slug
Spring
The frequency and amplitudes of the vibrating machine can thus be evaluated by the expressions
derived for the simple mass-spring system.
(a) The frequency of vibration of the machine is given in Equation (4.16) and (4.17).
Numerically, we have the following:
The circular frequency is:
o =
k
=
m
f =
6000 x12
= 53.83 rad / s
800 / 32.2
o
= 8.57 cycles / s
2
d 2 y (t )
m
+ k y (t ) = 0
dt 2
(4.14)
The conditions:
y(0) = 0 and
(a)
dy (t )
= 20 ft / min = 0.3333 ft / s
dt t =0
y (t ) = c1 Cos o t + c2 Sin o t
or
with
(4.16)
(b)
(c)
(d)
max =
Tm
1246
=
= 6346 psi
2
A
(0.5)
4
(e)
The cable will not break, because the maximum induced stress max = 6346 psi << a
where a is the maximum strength of the cable material = 40,000 psi
D. Examples of Applications:
Mass
m
y(t)
Mass
m
Motion
Spring Constant
k
Mass
m
y(t)
y
B. Mathematical Model:
d 2 y (t )
m
+ k y (t ) = 0
dt 2
C. Analytical Solution:
Amplitude, y(t)
y (t ) = c1 Cos o t + c2 Sin o t
Oscillates FOREVER!!
Time, t
Period =
2
k
m
E. Interpretation of Results:
NOT realistic the mass CANNOT oscillate
forever!! Vibration will eventually stop.
Mass
down
Idealized
Damper
Adjustable
opening for vent
A Dashpot
Dampera dashpot:
c
Mass, m
Dashpot for
damping
Real-world
Application
with Coilovers
in motorcycle
suspension
+y(t)
The damper in the physical model is characterized by a damping coefficient c similar to the situation
of a spring characterized by spring constant k.
The damping coefficient c is specified by manufacturer of the damper (a dashpot)
Because the corresponding damping force is related to the air resistance to the movement of the mass,
and the resistance R is proportional to the velocity of the moving mass. Mathematically, we have:
dy (t )
R (t ) Velocity of moving mass =
dt
where y(t) is the distance the mass has traveled from its initial equilibrium position
Consequently, the damping force R(t) has the form:
R (t ) = c
in which c = damping coefficient
dy (t )
dt
(4.19)
Spring:
k
Dampera dashpot:
c
Mass, m
Dynamic force:
d 2 y (t )
F (t ) = m
dt 2
+y(t)
Damping force:
dy (t )
R(t ) = c
dt
Spring force:
Fs = k [h + y(t)]
Mass, m
+y(t)
+ Fy = F (t ) R(t ) Fs + W = 0
dy (t )
d 2 y (t )
c
m
+
+ k y (t ) + kh mg = 0
dt
dt 2
or
d 2 y (t )
dy (t )
m
+
c
+ k y (t ) = 0
2
dt
dt
(4.20)
Equation (4.20) is a 2nd order homogeneous differential equation for the instantaneous position
of the vibrating mass
(4.20)
d 2 y (t ) c dy (t ) k
+
+ y (t ) = 0
dt 2
m dt
m
(4.20a)
Now, if we compare Equation (4.20a) and the typical 2nd order homogeneous DE in Equation (4.1):
du ( x)
d 2u ( x )
+
a
+ bu ( x) = 0
2
dx
dx
(4.1)
We may obtain the solutions of Equation (4.20) depends on the signs of the discriminators
(a2 4b) or (c/m)2 4(k/m) > 0, or =0, or <0. effectively, we will look for the 3 possible cases:
Case 1: (c/m)2 4(k/m) >0, or c2-4mk > 0
Case 2: (c/m)2 4(k/m) = 0 or c2-4mk = 0
Case 3: (c/m)2 4(k/m) < 0 or c2-4mk < 0
Case 1:
y (t ) = e (c / 2 m )t A e t + Be t
where
(4.22)
conditions
Graphical representation of the instantaneous position of the vibrating mass are:
y(t)
(2) (1)
(1)
(2)
(3)
y(t)
(1)
(2)
y0
(3)
(3)
t
(3)
Observations:
There is no oscillatory motion of the mass.
There can be an initial increase in the displacement, followed by
continuous decays in the amplitudes of vibration
The amplitudes of vibration usually decays quickly in time
Case 2:
y (t ) = e
t
2m
(A + B t )
(4.23)
(1)
(2)
yo
(3)
0
t
(3)
y(t)
(1)
0
(2)
t
(3)
Observations:
There is no oscillatory motion of the mass by theory
Amplitudes reduce with time, but take longer to die down
than in the case of over-damping
May become an unstable situation of vibration
y (t ) = e
where
t
2m
( A Cos t + B Sin t )
(4.24)
Observations:
The only case of damped vibration that has oscillatory motion of the mass
The amplitudes of each oscillatory motion of the mass reduces continuously
but they take a long time to die down
Under damping is thus the least desirable situation in machine design
Part 3
Review solution method of second order,
non-homogeneous ordinary differential equations
- Applications in forced vibration analysis
- Resonant vibration analysis
- Near resonant vibration analysis
du ( x)
d 2 u ( x)
a
+
+ bu ( x) = g ( x)
2
dx
dx
(4.25)
Non-homogeneous term
Solution of Equation (4.25) consists TWO components:
Solution u(x)
Complementary
solution uh(x)
Particular
solution up(x)
(4.26)
d 2 u h ( x)
du h ( x)
+
a
+ bu h ( x) = 0
dx
dx 2
(4.27)
Equation (4.27) is similar to the typical 2nd order homogeneous differential equation
in Equation (4.1).
Solutions are available in Equation (4.6) for Case 1 with a2 -4b>0; Equation (4.7) for
Case 2 with a2-4b<0; and Equation (4.12) for Case 3 with a2-4b = 0
up(x)
with unknown coefficients need
to be determined
Polynomial of order n:
g(x) = ax4 + b x2 + cx + d (order 4)
Polynomial of order n:
up(x) = Ao + A1x +A2x2+A3x3 + A4x4 (order 4)
Trigonometric functions:
g(x) = a sine(x), or bcos(x), or g(x)
= acos(x) + bsin(x)
Exponential functions:
g(x) = aebx
Exponential functions:
up(x) = Aebx
Combination of functions:
g(x) = ax3 + bcos(x) + ce-dx
The coefficients in the assumed up(x) are determined by comparing terms after its substituting
into the DE in Equation (4.25)
The coefficients in assumed up(x) are determined by comparing terms after its substituting
into the DE in Equation (4.25):
d 2 u p ( x)
dx
+a
du p ( x)
dx
+ bu p ( x) = g ( x)
(4.28)
d 2 y ( x) dy ( x)
2 y ( x) = Sin 2 x
dx
dx 2
Equation (a) is a non-homogeneous equation. So the solution by following
Equation (4.26)is:
(a)
(b)
The complementary solution yh(x) in Equation (b) is obtained from homogeneous part
of Equation (a) as:
d 2 y h ( x) dy h ( x)
2 y h ( x) = 0
dx
dx 2
(c)
y h ( x ) = c1 e x + c 2 e 2 x
(d)
(e)
dy p (x )
dt
d 2 y p (x )
dt
= 4 A Sin 2 x 4 B Cos 2 x
Substituting yp(x) in Equation (e) and its derivatives into Equation (a):
d 2 y p ( x ) dy p ( x )
2 y p ( x ) = Sin 2 x
2
dx
dx
1
3
y ( x) = y h ( x) + y p ( x) = c1 e x + c 2 e 2 x +
Sin 2 x + Cos 2 x
20
20
g(x)
d 2 u ( x)
+ 4u ( x) = 2 Sin 2 x
dx 2
(a)
By the usual procedure, we will get the complementary solution first by solving:
d 2 u h ( x)
+ 4u h ( x) = 0
2
dx
(b)
(c)
We realize the 2nd term in the solution of uh(x) in Equation (c) is of the same form of g(x) = 2 sin2x
in Equation (a). So, it is a special case. We will see from the following derivation of up(x) by the
normal way will lead us to NOWHERE as we will see form the following derivation!
Since the non-homogeneous part of the DE, g(x) = 2 sin2x a trigonometric function, the normal
way would having us assuming the particular solution in the form:
(d)
u (x) = A Cos 2x + B Sin 2x
p
Substituting the up(x) in Equation (d) into Equation (a) will lead to the following ambiguous equality:
In no way we can solve the coefficients A and B in Equation (d). Another way of assuming up(x) is needed
(e)
Now if we follow the usual procedure with the modified up(x) in Equation (e) to DE in Equation (a),
we need first to derive the following derivatives as:
du p ( x )
dx
and
d 2u p ( x )
dx 2
(f)
(g)
Upon substituting the above modified up(x) in Equation (e) and the derivatives in Equations (f) and (g)
into the DE in Equation (a), we will have:
(-4Ax Cos 2x 2A Sin 2x 2A Sin 2x 4Bx Sin2x + 2B Cos 2x + 2B Cos 2x)
+ (4Ax Cos 2x + 4Bx Sin 2x) = 2 Sin 2x
from which we get: A = -1/2 and B = 0, which lead to:
x
u p ( x ) = Cos 2 x
2
(h)
The complete general solution of the DE in Equation (a) is the summation of uh(x) in Equation (c)
and the up(x) in Equation (h):
x
u ( x ) = u h ( x ) + u p ( x) = c1 Cos 2 x + c 2 Sin 2 x Cos 2 x
2
The simplest physical model for forced vibration is a simple mass-spring system
subjected to an exciting force F(t) where t = time:
d 2 y (t )
Fd = m
dt 2
Elastic support:
Structures made
of elastic materials
k [h + y(t)]
k
y=0
Structure mass
Mass
m
Mass
m
y(t)
Excitation force
F(t)
Mass
m
W = mg
F(t)
The mathematical model for the above physical model can be derived by using Newtons First law:
+ Fy = 0 Fd k [h + y (t )] + W + F (t ) = 0
with
d 2 y (t )
Fd = m
dt 2
The differential equation for the instantaneous amplitudes of the vibrating mass under the influence
of force F(t) becomes:
d 2 y (t )
m
+ ky (t ) = F (t )
2
dt
(4.31)
/2
3/2
Upon substituting the expression of F(t) in Equation (4.32) into Equation (4.31), we have the
governing differential equation for the amplitudes of the vibrating mass as:
d 2 y (t )
m
+ k y (t ) = F0 Cos t
2
dt
(4.33)
d 2 y (t )
+ k y (t ) = F0 Cos t
Solution of Equation (4.33): m
dt 2
d 2 y (t ) k
F
or in a different form:
+ y (t ) = o Cos t
2
dt
m
m
0 =
(4.33a)
d 2 y (t )
Fo
2
(
)
+
y
t
=
Cos t
o
2
dt
m
(4.33)
k
m
(4.33b)
Equation (4.33b) is a non-homogeneous 2nd order differential equation, and its solution is:
d 2 yh (t )
2
+
0 y h (t ) = 0
2
dt
(4.33)
yh (t ) = c1 Cos ot + c2 Sin ot
(4.33e)
dy p (t )
dt
d 2 y (t )
= A 2 Cos t B 2 Sin t
= A Sint + B Cos t and
2
dt
Upon substituting the above into Equation (4.33b) with y(t) = yp(t):
d 2 y p (t )
dt 2
( A
We have:
+ 02 y p (t ) =
F0
Cos t
m
F0
Cost
m
( A
+ 02 A =
F0
m
y p (t ) =
+ 02 B = 0
F0
m( 2 + o2 )
F0
m( 2 + 02 )
leading to: B = 0
Cost
The complete solution of DE for forced vibration by cyclic force F(t) = Fo Cost in Equation (4.33) is:
y (t ) = c1 Cos0t + c2 Sin0t +
F0
m 02 2
(4.35)
y (t ) = c1 Cos0t + c2 Sin0t +
F0
m 02 2
(4.35)
Mass
m
y (t )
Applied force
F(t) = FoCost
F(t)
= 0
Fo
0
/2
3/2
dt 2
yh (t ) = c1 Cos ot + c2 Sin ot
which has the same Cos0t as in the non-homogeneous part of the DE.
Consequently, the particular solution of Equation (a) falls into a special case category.
Let us now assume the particular solution to be:
yp(t) = t (A Cos 0t + B Sin 0t)
By following the same procedure as we used in solving non-homogeneous DEs, we get:
A=0
Hence
y p (t ) =
and
B=
F0
2m0
F0
t Sin 0 t
2m0
y (t ) = c1 Cos 0 t + c2 Sin 0 t +
F0
t Sin 0 t
2m0
(4.36)
Amplitude, y(t)
Mass
m
F0
2m0
Time, t
tf
Applied force
F(t) = FoCos0t
- Breaking length
of spring
tf -Breaking time
F0
2m0
No human life was lost. A small dog was perished because he was too scared to run for his life
Sheet metal
Mass, M
x(t)
Elastic
foundation
The force acting on the base follows a function: F(t) = 2000 Sin(10t), in which t = time
in seconds
The base is supported by an elastic pad with an equivalent spring constant k = 2x105 N/m
Determine the following if the base is initially depressed down by an amount 0.1 m:
(a)
(b)
(c)
(d)
Solution:
Force of the plunger
= 10 Rad/s
Machine base
d 2 x(t )
+ 2 x10 5 x(t ) = 2000 Sin10t
2000
dt
Applied force,
F(t) =F(t)
2000 Sin (10t)
(4.37)
Elastic pad
Mass, m
Elastic foundation
= Spring, k
dx(t )
=0
x(0) = 0.1 m, and
dt t =0
(4.37a)
0 =
k
=
m
2 x105
= 10 Rad / s = , the frequency of the excitation force
2 x103
By now, we know how to solve for the complementary solution xh(t) in the form:
(b)
By following the normal procedure of substituting the xp(t) in Equation (c) into
the DE in Equation (4.37), and comparing terms on both sides, we will have the
constants A and B in Equation (c) computed as: A = -1/20 and B = 0.
We will thus have the particular solution
xp(t) = -t/20
(d)
By substituting Equation (b) and (d) into (a), we will have the general solution of
Equation (4.37) to be:
t
Cos 10t
20
(e)
Apply the two specified initial conditions in Equation (4.37a) into the above
general solution will result in the values of the two arbitrary constants:
c1 = 0.1 and c2 = 1/200
The complete solution of Equation (4.37) is thus:
1
1
t
Cos 10t +
Sin10t Cos 10t
10
200
20
Amplitude, y(t)
x (t ) =
(f)
F0
2m
Time, t
F0
2m
Solving for tf from the above equation leads to Tf = 8 s from the beginning
of the resonant vibration
Mass
m
k
k
Mass
m
F(t)
Because we have the case 0, we could use the solution obtained for the case
for F(t) = F0 Cos t:
y (t ) = c1 Cos0t + c2 Sin0t +
F0
m 02 2
F0
m o2 2
(4.35)
and c2 = 0
y (t ) =
Fo
[Cos(t ) Cos(o t )]
M ( o2 2 )
(4.38)
1
( + )Cos 1 ( )
2
2
and
1
( + ) Sin 1 ( )
2
2
Substituting the above relations into Equation (4.38) will lead the following:
y (t ) =
2 Fo
t
t
(
)
(
)
Sin
Sin
o
o
2
2
M o2 2
(4.39)
o +
2
and
o
2
in which the circular frequency << (the frequency of the exciting force)
Consequently, the solution in Equation (4.39) can be expressed as:
2 Fo
y (t ) =
Sin(t ) Sin(t )
2
2
M
(
)
o
(4.41)
Amplitudes, y(t)
Graphical representation of Equation (4.41) illustrates vibration in oscillations with beats with:
fb =
Time, t
to be the maximum
2 Fo
y (t ) =
2
2 amplitudes
M
)
o
Near resonant vibration is not usually catastrophic to the structure as resonant vibration
but it can cause unwanted disturbance and fatigue failures of structures
Part 4
We realize from vibration analysis of simple mass-spring system that resonant vibration
can occur when the frequency of applied force () equals the natural frequency of the
mass-spring structure (0)
Resonant vibration can lead to catastrophic failure of the structure, and it should always
be avoided by engineers
To avoid such happening, we need to know the natural frequency of the structure, so that
we can avoid resonant vibration from happening to the structure by not applying any cyclic
forces to the structure at frequencies that coincide the natural frequencies of the structure
MODAL ANALYSIS is a process of determining the natural frequency or frequencies
of a machine or structure
For simple mass-spring systems with the mass being attached or supported by a single
spring, the mass vibrates in one-degree-of freedom (because the motion of the mass is
prompted by a single spring force)
One degree-of-freedom system has only ONE MODE of natural frequency one natural
frequency, 0
For structures of complex geometry subjected to complex loading, there exists
Infinite () degree-of-freedom, and thus infinite number of natural frequencies
calling Mode 1, 2, 3, ..natural frequencies, expressed by: n: 1, 2, 3, .
Every effort should be made not to apply any intermittent cyclic forces with frequency
coinciding ANY of the natural frequency in any mode of the structure
F(t)
Mass
m
k
k
f =
Mass
m
o
1
=
2
2
k
m
(4.17)
F(t)
For structures of complex geometry and loading conditions, the elastic support can no
longer be represented by a single spring with spring constant k, and the mass is distributed
in the structure according to its geometry. In such cases the natural frequencies are
determined by the following generalized formula:
n =
[k ]
[m]
where [k] and [m] are respective stiffness matrix and mass matrix of the structure
These matrices are obtained by numerical analyses, such as finite element stress
analysis
MODAL ANALYSIS is an essential analysis for any machine or structure expected
to be subject to time-varying loads