Dept. of Mechanical Eng., KAIST Dept. of Mechanical Eng.

, KAIST
MAE 351 MAE 351: : Wk5
CHAPTER 4
CHAPTER 4
Vibration under General
Vibration under General
Forcing Conditions
Forcing Conditions
Dept. of Mechanical Eng., KAIST Dept. of Mechanical Eng., KAIST
MAE 351 MAE 351: : Wk5
4.1. General periodic force: Introduction
4.1. General periodic force: Introduction
Ex) I.C. Engine: Piston-crankshaft
1 1
cos F M r t
2
=
(downward force)
( ) ( )
Distance from TDC:
1 cos 1 cos
sin sin sin sin
. . 1
x l r t
r
r t l t
l
r
N B
l


= +
= =
| |
|
\ .

( )
2
2 2 2
2
2
2
1
cos 1 sin 1 sin 1 sin
2
2
1 cos sin
2
r
t
l
r
x r t t
l


= =
+

M
1
M
2
Dept. of Mechanical Eng., KAIST Dept. of Mechanical Eng., KAIST
MAE 351 MAE 351: : Wk5
( )
2
2
2
2 2
2
: 1 cos sin
2
: sin sin 2
2
: cos cos 2
r
Position x r t t
l
r
Velocity x r t t
l
r
Acceleration x r t t
l

+
= +
= +

( ) ( ) ( )
( )
2 2
1 2
1 2 2
cos cos 2
Total distrubing force:
cos cos 2
r
F M r t t
l
F t F t F t
r
M M r t M r t
l


2
2 2
| |
+
|
\ .
= +
+
c.f. Only two terms are selected from binomial expansion of
Higher order harmonics => more accurate result
cos
c.f. Only two terms are selected from binomial expansion of
Higher order harmonics => more accurate result
cos
Dept. of Mechanical Eng., KAIST Dept. of Mechanical Eng., KAIST
MAE 351 MAE 351: : Wk5
Recall: Fourier series expansion (Sec. 1.5)
( ) ( )
( )
( )
( )
0
1
0
cos sin , where
2
2
2
cos , 1, 2,...
2
sin , 1, 2,...
n n
n
o
n
o
n
o
a
F t a n t b n t
a F t dt
a F t n tdt n
b F t n tdt n

=
2
= + + =
=
= =
= =

( )
0
0
1 2 1 2
cos sin
2
cos cos 2 ... sin sin 2 ...
2
n n
n n
a
mx cx kx F t a n t b n t
a
a t a t b t b t


+ + = = + +
= + + + + + +


4.1. General periodic force: Review
4.1. General periodic force: Review
Dept. of Mechanical Eng., KAIST Dept. of Mechanical Eng., KAIST
MAE 351 MAE 351: : Wk5
Steady-state solution: Superposition of the response of forcing terms
( )
( )
( )
( )
( )
( ) ( )
0 0
1
2
1
2
2
2 2
1
2 2
2 2
cos
cos 2
sin
/
cos cos
1 2
2
tan
1
p
n
p n n n
n
a a
mx cx kx x t
k
mx cx kx a t
mx cx kx a t
mx cx kx b t
a k
x t n t X n t
n r nr
nr
n r

+ + = =
+ + =
+ + =
+ + =
=
+
| |
=
|
\ .



#

#
Look: *
* If
* First few terms are sufficient to obtain the response with
reasonable accuracy
( )
, ftn X n
, large (esp. for small n & )
n n
n X =
Dept. of Mechanical Eng., KAIST Dept. of Mechanical Eng., KAIST
MAE 351 MAE 351: : Wk5
4.2. Arbitrary
4.2. Arbitrary
Distrurbing
Distrurbing
(
(
Nonperiodic
Nonperiodic
)
)
Force
Force
t
i
F(t)
t
F(t)
t
t
1
,t
2
,t
3
t
i
F(t
i
)
t
j
Sequence of pulses
: very short t
t
Dept. of Mechanical Eng., KAIST Dept. of Mechanical Eng., KAIST
MAE 351 MAE 351: : Wk5
Input Output
(Impulsive force) (Impulse response)
t
( )
x t
0
2
d
/
( ) ( )
2 1
Impulse = F = Momentum change
= momentum at before impulse - momentum at after impulse
=
t
mx mx


t t
t
F t Fdt
+
=

( )
F t
t
t
1
(area)
F t = F
0
Dept. of Mechanical Eng., KAIST Dept. of Mechanical Eng., KAIST
MAE 351 MAE 351: : Wk5
F(t)
t
Dirac Delta
function
0
Unit impulse = 1
lim
t t
t
t
f Fdt F t
+

= = =

finite !
1 F dt F =
infinitely small
finite
; unit impulse () or delta function ()
Unit impulse at t =
( )
( )
0 for
1; Dirac delta function
t t
t dt

Recapitulation
* zero pulse width
* unit area
* infinite height

1/
c.f. practical test:
of the system
n
t
f

| |
1
=
|
\ .

Dept. of Mechanical Eng., KAIST Dept. of Mechanical Eng., KAIST

MAE 351 MAE 351: : Wk5
( )
( ) ( )
I.C.: 0 0 0
mx cx kx t
x x

+ = =
= =

Recall
( )
( )
0 0
0
0 0
For 0,
cos sin
~ ftn ,
n
t
n
d d
d
mx cx kx
x x
x t e x t t
x x

+ + =
(
+
= +
(

4.3 Impulse Response

4.3 Impulse Response
Then, what is the I.C. for impulse response?
( ) ( )
I.C.: 0 0 0; before force application x x

= =
i) System becomes unforced for
ii) Energy input due to becomes the I.C.s at
0 t
+

( )
t
0 t
+
=
Dept. of Mechanical Eng., KAIST Dept. of Mechanical Eng., KAIST
MAE 351 MAE 351: : Wk5
Double integration of ( )
: mx cx kx t + + =
( ) ( )
( )
( )
0 0
0 0
0
0
0
0
0 0
1 0: integrand is not
m x x cxdt kxdtdt
t dtdt
dt

+ +

+

+
(
+ +

=
=

( ) ( )
( )
0 0 0 0 0
0 0
m x x
x
+
+
(
+ + =

=
Integration of ( )
: mx cx kx t + + =
( ) ( ) ( ) ( )
( )
( ) ( )
0 0
0 0
0 0 0 0 1
If is not ,
1
0 1 0
m x x c x x kxdtdt t dtdt
x
m x x
m

+ +

+ +
+ +
( (
+ + = =

(
= =




= 0 = 0
( )
( )
0 0
I.C.'s:
1
0
x
x
m
+
+

Dept. of Mechanical Eng., KAIST Dept. of Mechanical Eng., KAIST

MAE 351 MAE 351: : Wk5
c.f. Intuitably,
Impulse momentum change
( ) ( ) ( )
1 0 0 0 mx mx mx
+ +
= =
Impulse response: Impulse response:
( ) ( )
1
sin for 0
;impulse response function
n
t
d
d
x t h t e t t
m

= >
For a unit impulse at ( ) ( )
, t t =
( )
( )
( ) ( )
1
sin , where 0 for
n
t
d
d
h t e t h t t
m

= = <
( ) ( )
( ) ( )
For ,
sin
n
t
d
d
F t F t
F
x t e t Fh t
m

=
= =

( ) ( )
( ) ( )
For ,
,
F t F t
x t Fh t F

=
=

: strength of the pulse = pulse area
Dept. of Mechanical Eng., KAIST Dept. of Mechanical Eng., KAIST
MAE 351 MAE 351: : Wk5
( )
0 0
0
Recall
cos sin
n
t
n
d d
d
x x
x t e x t t

(
+
= +
(

0
0 1/m
Dept. of Mechanical Eng., KAIST Dept. of Mechanical Eng., KAIST
MAE 351 MAE 351: : Wk5
Response for each pulse:
Total response:
As
( ) ( ) ( )
F h t
( ) ( ) ( )
x t h t F

0,
( ) ( ) ( ) ( )
( )
( )
0 0
1
sin
n
t t
t
d
d
x t F h t d F e t d
m

= =

4.4 Convolution Integral
4.4 Convolution Integral
( )
F t
t
( )
F

( )
strength F :
Sequence
of impulses
superposition
Dept. of Mechanical Eng., KAIST Dept. of Mechanical Eng., KAIST
MAE 351 MAE 351: : Wk5
( ) ( ) ( ) ( ) ( )
0 0
t t
x t F h t d F t h d = =

; Convolution integral Convolution integral
or Duhamel integral or Superposition integral
i.e. (Response) = (impulse response) (excitation)
; Borels theorem
Dept. of Mechanical Eng., KAIST Dept. of Mechanical Eng., KAIST
MAE 351 MAE 351: : Wk5
Dept. of Mechanical Eng., KAIST Dept. of Mechanical Eng., KAIST
MAE 351 MAE 351: : Wk5
Dept. of Mechanical Eng., KAIST Dept. of Mechanical Eng., KAIST
MAE 351 MAE 351: : Wk5
Dept. of Mechanical Eng., KAIST Dept. of Mechanical Eng., KAIST
MAE 351 MAE 351: : Wk5
Dept. of Mechanical Eng., KAIST Dept. of Mechanical Eng., KAIST
MAE 351 MAE 351: : Wk5
Dept. of Mechanical Eng., KAIST Dept. of Mechanical Eng., KAIST
MAE 351 MAE 351: : Wk5
(Ex) Drop
(Ex) Drop
-
-
test
test
Q: Maximum force transmitted to body, m?
( )
2
0
0
1
Drop contact : ,
2
2
where
H gt
H
t
g
=
=
( )
1
1
Free fall:
or
m x x kx
mx kx mx
+ =
+ =


2
1 1
2
0
1
or
2
or ,
I.C.'s: 0
n
o
x gt x g
mx kx mg x x g
subject to x x

= =
+ = + =
= =

x
1
H
Sufficient clearance
to avoid contact
m
k
x
Dept. of Mechanical Eng., KAIST Dept. of Mechanical Eng., KAIST
MAE 351 MAE 351: : Wk5
( ) ( ) ( )
( )
0 0
2
0 sin
1 cos
t t
n
n
n
n
g
x mg h t d t d
g
t

= + =
=

After t = t
0
(after striking the floor): (Unforced system, i.e. F(t) = 0)
( ) ( )
( )
0 0 0
2
0 0 0 0 0
1 cos
sin
n
n
n
n
g
x x t t
g
x x t gt gt t

= =
= + =
I.C.s:
( )
( )
( )
0
0
0 0
2 2
0
cos sin 0
1 cos cos sin sin
o
n n
n
n n n n
n
n n
x
x t x t t
gt g g
t t t t

+ | |
= + +
|
\ .
| |
= +
|
\ .

( )
F t mg =
( )
undamped
velocity of box assembly
Maximum force transmitted to m
( ) ( ) ( )
2 2
0 0 0
max 2
1 cos sin
n n n
n
kg
m x kX t t t

= = = +
Dept. of Mechanical Eng., KAIST Dept. of Mechanical Eng., KAIST
MAE 351 MAE 351: : Wk5
(Ex) Response to Arbitrary Base Excitation
(Ex) Response to Arbitrary Base Excitation
Relative displacement z = x - y
( )
mz cz kz my F t + + = =
( ) ( )
( )
( )
( ) ( )
( )
( )
( )
0
0
0
1
sin
1
sin
n
n
t
t
d
d
t
t
t
d
d
z t F e t d
m
F h t d
y e t d

=
| |
=
|
\ .
=

m
k
x(t)
c
y(t)