Vibrations

Formula Overview

Overdamped motion
c = n

k=
n =
f=

(1)
k
m

(2)

n
2

1
2
T = =
= 2
f
n

m
k

x(t) = (a1 + a2 t) en t
a1 = x0

(5)

x(t) = A sin (n t + )
s
 2
v0
2
A = x0 +
0


n x0
1
= tan
v0

(6)

and

m
x + kx = Fe (t)

(7)

r=

(23)

(24)

Fe (t) = Fe cos t

(8)

r=1

Definitions

(25)

Fe
1
cos t
2
m (n 2 )

xp (t) =

Fe
t sin n t
2mn

(26)
(27)

(9)
Damped harmonic excitation
(10)
m
x + cx + kx = Fe (t)

(28)

Fe (x) = Fe cos t xp (t) = X cos (t ) (29)

Equation of motion
m
x + cx + kx = 0

(11)

x
+ 2n x + n2 x = 0

(12)

x(t) = Aen t sin (d t + )

s

2
v0 + n x0
A = x20 +
d


x0 d
= tan1
v0 + n x0

(22)

Free harmonic excitation

Damped Motions

Underdamped motion
p
d = n 1 2

(20)

(21)

a2 = v0 + n x0

r 6= 1 xp (t) =

c
c
c
=
=
ccr
2m
2 km
n

(19)

Harmonic Excitation

m
x + kx = 0

(18)

(4)

Equation of motion

ccr = 2 km = 2mn

(17)

Critically damped motion

(3)
r

2 1

x(t) = en t a1 ec t + a2 ec t


1
n
v0
a1 = x0 1

2
c
2c


1
n
v0
a2 = x0 1 +
+
2
c
2c

Free Vibrations
Basics

Fe (x) = Fe sin t xp (t) = X sin (t ) (30)

X=

Fe
q
k

1
2

(31)
2

(1 r2 ) + (2r)


2r
= arctan
1 r2

(32)

(13)
(14)

General Forced Vibration

(15)

The impulse function

(16)

m
x + cx + kx = Fe (t )

(33)

x(t) = Fe h(t )

(34)

h(t) =

1 n t
e
sin d t
md

Solution method 1

(35)

x(t) = ueit


K 2 M ueit = 0

The step function

m
x + cx + kx = Fe u(t )
x(t) =

Fe
k

(36)
!

(50)
(51)

x(t) = A1 sin (1 t + 1 ) u1 + A2 sin (2 t + 2 ) u2

(52)

1
en t cos (d t )
1 p
1 2
(37)
!

= arctan p
(38)
1 2

Solution method 2
x(t) = M 1/2 q(t) = M 1/2 veit

(53)

e = 2 v
M 1/2 KM 1/2 v = Kv

(54)

u1 = M

Fourier series forcing function

1/2

v1 and u2 = M

1/2

v2

(55)

x(t) = A1 sin (1 t + 1 ) u1 + A2 sin (2 t + 2 ) u2






(56)
a0 X
2
2
Fe (t) = +
an cos n t + bn sin n t
2 n=1
T
T
Modal analysis definitions
(39)
Z T


2
P = v1 v2
(57)
Fe (t)dt
(40)
a0 =
T 0


Z
S = M 1/2 P S 1 = P T M 1/2
(58)
2 T
2
 2

an =
(41)
Fe (t) cos n t dt
T 0
T
e = 1 02
= P T KP
(59)
0 2


Z T
2
2
bn =
Fe (T ) sin n t dt
(42)
T 0
T
Modal analysis solution
Fourier series solution
xp (t) = xa0 (t) +

(xan (t) + xbn (t))

(43)

n=1

xa0 =

a0
2k

(44)

an
X cos (nT t n )
m
bn
xbn = X sin (nT t n )
m
1
X = r
2
2
2
n2 (nT )
+ (2nn T )
xan =

n = arctan

(45)
(46)
(47)

2nn T
2

n2 (nT )

(48)

Multiple-Degree-of-Freedom
Systems
Equation of motion
Mx
+ Kx = 0

(49)

r(t) + r(t) = 0

(60)

r0 = S 1 x0 and r 0 = S 1 x 0

(61)

x(t) = Sr(t)

(62)