Chapter 3

Forced Vibrations of SDOF

Dr.-Ing. Azmi Mohamed Yusof

Faculty of Mechanical Engineering

Content

1. Learning Outcomes
2. Harmonic Excitation of SDOF Undamped System
3. Harmonic Excitation of SDOF Damped System
4. Response Due to Harmonic Motion of Support
5. Response Due to Rotating Unbalance
6. Vibration Isolation
7. Tutorial Problems

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Course Outcomes

At the end of this chapter students should be able to state, derive and
apply the fundamental principle of vibration involving:-
ƒ Vibration of SDOF undamped system with harmonic excitation
ƒ Vibration of SDOF damped system with harmonic excitation
ƒ System with rotating unbalanced
ƒ System with unbalanced mass
ƒ Method for vibration isolation

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Forced vibration

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2.0 Harmonic excitation of SDOF undamped system
Forced vibration
ƒ Oscillations that take place under the external force
excitation
ƒ Example : washing machine, engines, etc..

Undamped system with harmonic oscillation

ƒ Consider the simplest vibrating system as shown in
fig. (a)
ƒ The time varying external force (harmonics) is given
by
‫ ݐ ܨ‬ൌ ‫ܨ‬௢ …‘• ߱‫ݐ‬
ƒ Applying Newton’s second law from FBD,
݉‫ݔ‬ሷ ൅ ݇‫ ݔ‬ൌ ‫ܨ‬௢ …‘• ߱‫ݐ‬ 1

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2.0 Harmonic excitation of SDOF undamped system

ி೚
‫ݔ‬ሷ ൅ ߱௡ ଶ ‫ݔ‬ሶ ൌ …‘• ߱‫ݐ‬ 2
௠௢

ƒ Where ߱௡ is the natural frequency of the mass, while Z is the frequency

of the external force
ƒ The solution to this second order, linear, nonhomogeneous ODE contain
complementary solution ‫ݔ‬ሺ‫ݐ‬ሻ௖ , and particular solution ‫ݔ‬ሺ‫ݐ‬ሻ௣
‫ݔ‬ሺ‫ݐ‬ሻ ൌ ‫ݔ‬ሺ‫ݐ‬ሻ௖ ൅ ‫ݔ‬ሺ‫ݐ‬ሻ௣ 3
ƒ The complementary solution :
‫ݔ‬ሷ ௖ ൅ ߱௡ ଶ ‫ݔ‬௖ ൌ Ͳ
‫ݔ‬௖ ‫ ݐ‬ൌ ‫߱ •‘… ܣ‬௡ ‫ ݐ‬൅ ‫߱ ‹• ܤ‬௡ ‫ݐ‬ 4

ƒ Let assume the particular solution as :

‫ݔ‬௣ ‫ ݐ‬ൌ ܺ …‘• ߱‫ݐ‬ 5

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2.0 Harmonic excitation of SDOF undamped system
The complementary solution defines the free
‫ݔ‬௖
vibration (see figure (a)) and it will typically dampen
out. ‫ݐ‬

Therefore xc is referred to as transient ‫ݔ‬௣

‫ݐ‬
The particular solution describes the force vibration
caused by the applied load (fig. (b))
‫ݔ‬௖ ൅ ‫ݔ‬௣

There resultant vibration is shown in fig. c

‫ݐ‬

As the free vibration will in time dampen out, the ‫ ݔ‬ൌ ‫ݔ‬௣
remaining vibration will be the force vibration
‫ݐ‬
Thus, ‫ݔ‬ሺ‫ݐ‬ሻ௣ is called steady state (see fig. (d)).
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2.0 Harmonic excitation of SDOF undamped system

ƒ Obtaining the velocity and acceleration term for eqn. (5) gives
‫ݔ‬௣ ‫ ݐ‬ൌ ܺ …‘• ߱‫ݐ‬
‫ݔ‬ሶ ௣ ‫ ݐ‬ൌ െܺ߱ •‹ ߱‫ݐ‬
‫ݔ‬ሷ ௣ ‫ ݐ‬ൌ െܺ߱ଶ …‘• ߱‫ݐ‬

ƒ Substituting the above equations into eqn. (3)

‫ܨ‬௢
െܺ߱ଶ …‘• ߱‫ ݐ‬൅ ߱௡ ଶ ܺ …‘• ߱‫ ݐ‬ൌ …‘• ߱‫ݐ‬
݉௢
ி೚
ܺሺ߱௡ ଶ െ ߱ଶ ሻ ൌ ;
௠௢
ಷ೚ൗ
೘ ி೚
ܺൌ ೖ ൌ
ିఠమ ௞ି௠ఠమ
೘

ƒ The amplitude (max. displacement) of oscillation is given by:-

ಷ೚
ி೚ ൗೖ
ܺൌ ൌ ഘ మ
6
௞ି௠ఠమ ଵି ഘ
೙

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2.0 Harmonic excitation of SDOF undamped system
ƒ ߜ௦௧ is called the static deflection of the mass due to the force Fo.
‫ܨ‬௢
ߜ௦௧ ൌ 7
݇
ƒ The overall solution for the time response of the displacement is given
by:-
ி೚
‫ ݐ ݔ‬ൌ ‫߱ •‘… ܦ‬௡ ‫ ݐ‬൅ ‫߱ ‹• ܧ‬௡ ‫ ݐ‬൅ …‘• ߱‫ݐ‬ 8
௞ି௠ఠమ

ƒ We need to determine the constant D & E by using initial conditions.

ƒ Suppose ‫ ݐ ݔ‬ൌ Ͳ ൌ ‫ݔ‬௢ and ‫ݔ‬ሶ ‫ ݐ‬ൌ Ͳ ൌ ‫ݔ‬ሶ ௢ , then we have
ி೚ ௫ሶ ೚
‫ ܦ‬ൌ ‫ݔ‬௢ െ and ‫ ܧ‬ൌ
௞ି௠ఠమ ఠ೙

ƒ By substituting into equation 1

ி೚ ௫ሶ ೚ ி೚
‫ ݐ ݔ‬ൌ ‫ݔ‬௢ െ …‘• ߱௡ ‫ ݐ‬൅ •‹ ߱௡ ‫ݐ‬ ൅ …‘• ߱‫ݐ‬ 9
௞ି௠ఠమ ఠ೙ ௞ି௠ఠమ

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2.0 Harmonic excitation of SDOF undamped system

ƒ The ratio, ఋ௑ is known as the magnification factor (M)
ೞ೟
ܺ ͳ ͳ
‫ܯ‬ൌ ൌ ൌ 10
‫ܨ‬௢ൗ ߱ ଶ ͳെ ‫ݎ‬ ଶ
݇ ͳെ
߱௡

ƒ The ordinate always take a positive value (modulus sign)

ƒ Where r is the frequency ratio, ” ൌ ఠఠ 11
೙

ƒ Literally the magnification factor can be defined as the ratio of the

amplitude of vibration to the amplitude of zero frequency deflection

ƒ The plot ಷ೚௑ൗ or Magnification factor versus the frequency ratio ” is

ೖ
shown in fig. (a)

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2.0 Harmonic excitation of SDOF undamped system
ƒ M Vs r highlights:
¾ M = 1 when r = 0
¾ The asymptote occurs at r =1
¾ At r > 1, increasing r causes M
exponentially decreases
ƒ The system response shall be
observed within three conditions
of frequency ratio:-
ఠ
¾ When 0 < <1
ఠ೙
ఠ
¾ When >1
ఠ೙
ఠ
¾ When =1
ఠ೙

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2.0 Harmonic excitation of SDOF undamped system

ఠ
Case 1, when 0 < <1
ఠ೙

ƒ The natural frequency of the free vibration response is greater than the
natural frequency of forced vibration
ƒ The amplitude of forced response is greater than the the static deflection
ƒ The harmonic response of the system xp(t) is in phase with the external
force. See the plots as shown in figure below

External force excitation System response

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2.0 Harmonic excitation of SDOF undamped system
ఠ
Case 2, when >1
ఠ೙

ƒ The natural frequency of the free vibration

response is less than the natural frequency
of forced vibration

ಷ೚
ൗೖ
ƒ ‫ݔ‬௣ ‫ ݐ‬ൌ െܺ …‘• ߱‫ ݐ‬, where ܺ ൌ ഘ మ
External force excitation
ିଵ
ഘ೙

ƒ ‫ݔ‬௣ ‫ ݐ‬and ‫ܨ‬௢ has opposite sign, 180o out of

phase

ƒ When ఠఠ Æf, then X Æ 0 : the response at

೙
very high frequency is close to zero.

System response

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2.0 Harmonic excitation of SDOF undamped system

ఠ
Case 3, when =1
ఠ೙

ƒ The condition when Z = Zn is called resonance

ƒ Amplitude of oscillation increases linearly with
time or become infinite
ƒ Undesirable condition which may harm the
overall mechanical system External force excitation

ƒ The equation of motion is

‫ܨ‬௢
‫ݔ‬ሷ ௣ ൅ ߱௡ ଶ ‫ݔ‬௣ ൌ ܿ‫߱ ݏ݋‬௡ ‫ݐ‬
݉
ƒ The response of the system at resonance is:

‫ܨ‬௢ൗ
࢞ሶ ࢕ ݇ ࣓࢔ ࢚
࢞ ࢚ ൌ ࢞࢕ ࢙࢏࢔࣓࢔ ࢚ ൅ ࢉ࢕࢙࣓࢔ ࢚ ൅ ࢙࢏࢔ ࣓࢔ ࢚
࣓࢔ ૛
System response
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2.0 Harmonic excitation of SDOF undamped system
Lunar resonant streetlights

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2.0 Harmonic excitation of SDOF undamped system

Example
ƒ A weight of 50N is suspended from a spring of stiffness 5000 N/m and is
subjected to a harmonic force of amplitude 40N and frequency of 4 Hz.
Determine
a) the extension of the spring due to suspended spring
b) the static displacement of the spring due to the maximum applied
force
c) the amplitude of the forced motion of the weight

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2.0 Harmonic excitation of SDOF undamped system
Solution
ௐ ହ଴
ƒሻ ߜ௦௧ ൌ ൌ ହ଴଴଴ ൌ ͲǤͲͳ݉
௞
ி೚ ସ଴
„ሻ ߜ௦௧ ൌ ൌ ൌ ͺ ൈ ͳͲିଷ ݉
௞ ହ଴଴଴

௞ ହ଴଴଴ൈଽǤ଼ଵ
…ሻ ߱௡ ൌ ൌ ൌ ͵ͳǤ͵ʹ”ƒ†Ȁ•Ǣ߱ ൌ ʹߨ Ͷ ൌ ʹͷǤͳͶ ‫݀ܽݎ‬Ȁ‫;ݏ‬
௠ ହ଴
ଶହǤଵସ
‫ ݎ‬ൌ ଷଵǤଷଶ ൌ ͲǤͺ
ఋೞ೟ ଼ൈଵ଴షయ
ܺൌ ൌ ൌ ͲǤʹʹ ݉݉
ଵି௥ మ ଵି଴Ǥ଼మ

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2.0 Harmonic excitation of SDOF undamped system

Example
ƒ A 50 kg mass is hanging from a spring of stiffness 5 x 104 N/m. A
harmonic force of magnitude 100 N and frequency 100 rad/s is applied to
the system. Determine
a) the amplitude of the forced response
b) the natural frequency of the system

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2.0 Harmonic excitation of SDOF undamped system
Solution
ி೚ ଵ଴଴
ߜ௦௧ ൌ ൌ ൌ ʹ ൈ ͳͲିଷ ݉.
௞ ହ଴଴଴

௞ ହ଴଴଴
߱௡ ൌ ൌ ൌ ͵ͳǤ͸ʹ”ƒ†Ȁ•Ǣ߱ ൌ ͳͲͲ ‫݀ܽݎ‬Ȁ‫;ݏ‬
௠ ହ଴
ଵ଴଴
‫ݎ‬ൌ ൌ ͵Ǥͳ͸
ଷଵǤ଺ଶ
ೞ೟ ఋ ଶൈଵ଴షయ ିସ
ܺ ൌ ଵି௥ మ ൌ ଵିଷǤଵ଺మ ൌ ʹǤʹʹ ൈ ͳͲ ݉

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2.0 Harmonic excitation of SDOF undamped system

Example
ƒ A reciprocating pump, having a mass of 68 kg, is mounted at the middle of a
steel plate of thickness 1 cm, width 50 cm, and length 250 cm, clamped along
two edges as shown in the figure below. During operation of the pump, the plate
is subjected to a harmonic force, ‫ ݐ ܨ‬ൌ ʹʹͲ …‘• ͸ʹǤͺ͵ʹ‫ ݐ‬N. Determine the
amplitude of vibration of the plate. (Take the plate equivalent stiffness of the
ଵଽଶாூ
beam as ݇ ൌ య , and Young’s modulus of the beam as 200 Gpa).
௟

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2.0 Harmonic excitation of SDOF undamped system
Solution
ଵଽଶாூ ଵ ሺ଴Ǥ଴ହሻሺ଴Ǥ଴ଵሻయ
݇ൌ ௅య
; ‫ ܫ‬ൌ ଵଶ ܾ݄ଷ ൌ ൌ ͶͳǤ͸͹ ൈ ͳͲିଽ
ଵଶ
ሺଵଽଶሻሺଶ଴଴ൈଵ଴వ ሻሺସଵǤ଺଻ൈଵ଴షవ ሻ
݇ൌ ൌ ͳͲʹͶͲͲǤͺʹ N/m
ሺଶǤହሻయ

௞ ଵ଴ଶସ଴଴Ǥ଼ଶ
߱௡ ൌ ൌ ൌ ͵ͺǤͺͲ”ƒ†Ȁ•
௠ ଺଼

‫ ܨ‬ൌ ʹʹͲ …‘• ͸ʹǤͺ͵‫ ݐ‬ÆÆ ‫ܨ‬௢ ൌ ʹʹͲܰǡ ߱ ൌ ͸ʹǤͺ͵ ‫݀ܽݎ‬Ȁ‫ݏ‬

ఠ ଺ଶǤ଼ଷ ி೚ ଶଶ଴
‫ ݎ‬ൌ ఠ ൌ ଷ଼Ǥ଼଴ ൌ ͳǤ͸ʹ ; ߜ௦௧ ൌ ௞
ൌ ଵ଴ଶସ଴଴Ǥ଼ଶ ൌ ʹǤͳͷ ൈ ͳͲିଷ
೙
ఋೞ೟ ଶǤଵହൈଵ଴షయ
From ܺ ൌ ൌ ൌ ͳǤ͵ʹ͵ ݉݉
ଵି௥ మ ଵିଵǤ଺ଶమ

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Tutorial 3.1
ƒ For what value of m will the resonance occur for the system shown
below?

Ans: 120 kg

ƒ A 45 kg machine is mounted on on four parallel springs each of stiffness

2 x 105 N/m. When the machine operates at 32 Hz, the machine steady
state amplitude is measured as 1.5 mm. Determine the magnitude of the
excitation provided to the machine at this speed.
Ans: 1.54 x 103 m

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3.0 Harmonic excitation of SDOF damped system
Forced vibration with viscous damping
ƒ Consider a viscously damped SDOF spring-mass
system as shown in fig. (a).
ƒ Suppose the external force applied is in the form of
‫ ݐ ܨ‬ൌ ‫ܨ‬௢ •‹ ߱‫ݐ‬
ƒ Using Newton’s second law of motion for FBD shown in
fig. (b), the equation of motion is obtained as:-
݉‫ݔ‬ሷ ൅ ܿ ‫ݔ‬ሶ ൅ ݇‫ ݔ‬ൌ ‫ܨ‬௢ …‘• ߱‫ݐ‬
௖ ௞ ி೚
or ‫ݔ‬ሷ ൅ ‫ݔ‬ሶ ൅ ‫ݔ‬ ൌ …‘• ߱‫ݐ‬ 12
௠ ௠ ௠

ƒ The particular solution can be assumed in the form

‫ݔ‬௣ ൌ ‫ ݐ߱ •‘… ܣ‬൅ ‫ ݐ߱ ‹• ܤ‬ൌ ࢄ ࢉ࢕࢙ ሺ߱‫ ݐ‬െ ߮ሻ

ƒ The velocity and acceleration terms become,

‫ݔ‬ሶ ௣ ൌ െ‫ ݐ߱ ‹• ߱ܣ‬൅ ‫ݐ߱ ݏ݋ܿ ߱ܤ‬
‫ݔ‬ሷ ௣ ൌ െ‫߱ܣ‬ଶ …‘• ߱‫ ݐ‬െ ‫߱ܤ‬ଶ ‫ ݐ߱ ݊݅ݏ‬ൌ െ߱ଶ ‫ݔ‬௣
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3.0 Harmonic excitation of SDOF damped system

ƒ Substitute these results into equation 1,
݇ െ ߱ଶ ݉ ‫ ܣ‬െ ܿ߱‫ ݐ߱ •‘… ܤ‬൅ ܿ߱‫ ܣ‬൅ ݇ െ ߱ଶ ݉ ‫ ݐ߱ ‹• ܤ‬ൌ ‫ܨ‬௢ …‘• ߱‫ݐ‬
ƒ Extracting the algebraic equation involving term A and B,
ƒ ݇ െ ߱ଶ ݉ ‫ ܣ‬െ ܿ߱‫ ܤ‬ൌ ‫ܨ‬௢ and ܿ߱‫ ܣ‬൅ ݇ െ ߱ଶ ݉ ‫ ܤ‬ൌ Ͳ
ƒ Dividing both equations with k
ͳ െ ‫ ݎ‬ଶ ൅ ʹ‫ ܤ ]ݎ‬ൌ ߜ௦௧ and െʹ‫ ܣ]ݎ‬൅ ͳ െ ‫ ݎ‬ଶ ‫ ܤ‬ൌ Ͳ

ƒ Where ࢘ ൌ ࣓࣓ , ] ൌ ࡯ࢉ ൌ ૛࢓࣓
ࢉ
and ࢾ࢙࢚ ൌ
ࡲ࢕
࢑
࢔ ࢉ ࢔

ƒ Solve the above equation for A and B yield,

ሺଵି௥ మ ሻఋೞ೟ ଶ௥]
‫ܣ‬ൌ , ‫ܤ‬ൌ
ሺଵି௥ మ ሻమ ାሺଶ௥]ሻమ ሺଵି௥ మ ሻమ ାሺଶ௥]ሻమ

ƒ The result for a steady state equation

ߜ௦௧
‫ݔ‬௣ ൌ ሾሺͳ െ ‫ ݎ‬ଶ ሻ …‘• ߱‫ ݐ‬൅ ʹ‫ݐ߱ ‹• ]ݎ‬ሿ 13
ሺͳ െ ‫ ݎ‬ଶ ሻଶ ൅ሺʹ‫]ݎ‬ሻଶ

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3.0 Harmonic excitation of SDOF damped system
ƒ It can also be written in a generalized form,
ࢾ࢙࢚
࢞࢖ ൌ ‫ܛܗ܋‬ሺ࣓࢚ െ ࣐ሻ
ሺ૚ െ ࢘૛ ሻ૛ ൅ሺ૛࢘]ሻ૛
ƒ The steady state amplitude
ࢾ࢙࢚ ࡲ࢕
ࢄൌ ࢕࢘ ࢄ ൌ 14
ሺ૚ െ ࢘૛ ሻ૛ ൅ሺ૛࢘]ሻ૛ ሺ࢑ െ ࣓૛ ࢓ሻ૛ ൅ࢉ૛ ࣓૛
ƒ Finally, The complete solution is given by
‫ ݐ ݔ‬ൌ ‫ݔ‬௖ ‫ ݐ‬൅ ‫ݔ‬௣ ‫ݐ‬
‫ ݐ ݔ‬ൌ ܺ௢ ݁ ି]ఠ೙ ௧ ሺ…‘• ߱ௗ ‫ ݐ‬െ ߮௢ ሻ ൅ ܺ …‘•ሺ߱‫ ݐ‬െ ߮ሻ
ƒ ܺ௢ and ߮௢ can be determined from the initial conditions
¾ ‫ ݐ ݔ‬ൌ Ͳ ൌ ‫ݔ‬௢
¾ ‫ݔ‬ሶ ‫ ݐ‬ൌ Ͳ ൌ ‫ݔ‬ሶ ௢

ƒ See textbook (S. S. Rao) page 275 for a complete solution.

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3.0 Harmonic excitation of SDOF damped system

The Magnification factor
ƒ The magnification factor M,
ࢄ ૚
ࡹൌ ൌ 15
ࢾ࢙࢚
ሺ૚ି࢘૛ ሻ૛ ାሺ૛࢘ ] ሻ૛

ƒ Where the phase angle is:

૛࢘] ࢉ࣓
࣐ ൌ ࢚ࢇ࢔ି૚ ࢕࢘ ࣐ ൌ ࢚ࢇ࢔ ି૚
16
૚ െ ࢘૛ ࢑ െ ࣓૛ ࢓
ƒ The plot for M versus r, and M versus r are shown in figure

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3.0 Harmonic excitation of SDOF damped system
Plot Magnification factor Versus frequency ratio

Summary
ƒ Damping has a large
influence on the amplitude
and phase angle near
resonance.
ƒ For r < 1 the inertia &
damping force are small Æ
small phase angle.
Magnitude of impressed
force = spring force.
ƒ For r = 1, inertia force
become larger but it is
balanced by the spring force.
Impressed force overcome
the damping force.
ƒ For r > 1, the impressed
force is expended almost
entirely in overcoming the
large inertia force

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3.0 Harmonic excitation of SDOF damped system

Plot I Vs r

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3.0 Harmonic excitation of SDOF damped system
Resonance and peak amplitude
ƒ At resonance, r = 1 (߱ ൌ ߱௡ ). The amplitude at resonance is
௑ ଵ ఋೞ೟
ൌ or ܺ ൌ
ఋೞ೟ ଶ] ଶ]

ଵ ௗெ
ƒ For Ͳ ൏ [ ൏ ଶ
, the maximum value of M occur when
ௗ௥
ൌ Ͳǡ ‫ ܯ݁ݎ݄݁ݓ‬ൌ
ଵ

ሺଵି௥ మ ሻమ ାሺଶ௥]ሻమ
ௗெ
¾ Solving ÆAssume ‫ ݑ‬ൌ ሺͳ െ ‫ ݎ‬ଶ ሻଶ ൅ሺʹ‫]ݎ‬ሻଶ , ‫ ܯ‬ൌ ‫ିݑ‬଴Ǥହ
ௗ௥
ௗ௨ ௗெ
¾ ൌ Ͷ‫ ݎ‬ଷ െ Ͷ‫ ݎ‬ଶ ൅ ͺ‫]ݎ‬ଶ, ൌ െͲǤͷ‫ି ݑ‬ଵǤହ
ௗ௥ ௗ௨
ௗெ ௗெ ௗ௨ ସ௥ య ିସ௥ మ ା଼௥]మ
¾ ൌ ȉ ൌെ మ
ௗ௥ ௗ௨ ௗ௥ ଶሾ ଵି௥ మ మ ା ଶ௥] ሿభǤఱ

ௗெ ସ௥ య ିସ௥ మ ା଼௥]మ
¾
ௗ௥
ൌെ మ భǤఱ
ൌ Ͳ,
ଶ ଵି௥ మ మ ା ଶ௥]

¾‫ݎ‬ൌ ͳ െ ʹ[ଶ
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3.0 Harmonic excitation of SDOF damped system

ƒ This mean that the maximum magnification occur when
ఠ
‫ݎ‬ൌ ͳ െ ʹ[ଶ , or ൌ ͳ െ ʹ[ଶ 17
ఠ೙

ƒ Substitute eqn. (17) into eqn. (15), we will obtain the maximum
ଵ
magnification factor (for Ͳ ൏ [ ൏ ),
ଶ

௑ ଵ
‫ܯ‬௠௔௫ ൌ ൌ 18
ఋೞ೟ ெ௔௫
ଶ[ ଵି[మ

ఋೞ೟
ƒ Thus the maximum amplitude : ܺ௠௔௫ ൌ 19
ଶ[ ଵି[ మ

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 30

3.0 Harmonic excitation of SDOF damped system
Example
ƒ A SDOF spring-mass-damper system is subjected to a harmonic force.
The amplitude is found to be 25 mm at resonance and 10 mm at a
frequency 0.75 times the resonant frequency. Determine the damping
ratio for the system.

Solution
ƒ ܺ ൌ ͲǤͲʹͷ݉ ܽ‫ ߱ ݐ‬ൌ ߱௡ and ܺ ൌ ͲǤͲͳ݉ ܽ‫ ߱ ݐ‬ൌ ͲǤ͹ͷ߱௡

ƒ ͲǤͲʹͷ ൌ ఋଶೞ೟] ; ߜ௦௧ ൌ ͲǤͲͷ]

ఋೞ೟
ƒ ͲǤͲͳ ൌ ; ߜ௦௧ ൌ ͲǤͲͳ ͲǤͳͻ ൅ ʹǤʹͷ]ଶ
ሾଵି ଴Ǥ଻ହ మ ሿమ ାሾሺଶሻሺ଴Ǥ଻ହሻ]ሻమ

ƒ ] ൌ ͲǤͻͳ

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 31

3.0 Harmonic excitation of SDOF damped system

Example
ƒ A 25 kg mass is mounted on an oscillator pad whose stiffness is 5 x 105
N/m. When the system is subjected to a harmonic excitation of
magnitude 300 N and frequency 100 rad/s, the phase different between
the excitation and the steady state response is 25o. Determine:
a) the damping ratio of the isolator pad
b) the isolator pad’s maximum deflection due to this excitation

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 32

3.0 Harmonic excitation of SDOF damped system
ƒ Given: m = 25 kg, k = 5 x 105 N/m, Fo = 300 N, Z = 100 rad/s and M =
25q

ଶ௥] ௞ ହൈଵ଴ఱ ఠ ଵ଴଴

ƒሻ ‫ ߮ ݊ܽݐ‬ൌ ଵି௥ మ, ߱௡ ൌ
௠
ൌ
ଶହ
ൌ ͳͶͳǤͶʹ ‫݀ܽݎ‬Ȁ‫ ݎ ;ݏ‬ൌ
ఠ೙
ൌ
ଵସଵǤସଶ
ൌ
ͲǤ͹Ͳ͹

ଶ ଴Ǥ଻଴଻ ]
–ƒ ʹͷ ൌ ; ] ൌ ͲǤͳ͸Ͷ
ଵି଴Ǥ଻଴଻మ

ఋೞ೟ ி೚ ଷ଴଴
„ሻܺ ൌ ; ߜ௦௧ ൌ
௞
ൌ
ହൈଵ଴ఱ
ൌ ͸ ൈ ͳͲିସ
ሺଵି௥ మ ሻమ ାଶ௥]మ

଺ൈଵ଴ర
ܺൌ ൌ ͳǤͲͻ ൈ ͳͲିଷ ݉
ሾଵି ଴Ǥ଻଴଻ మ ሿమ ାሾሺଶሻሺ଴Ǥ଻଴଻ሻሺ଴Ǥଵ଺ସሻሿమ

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 33

3.0 Harmonic excitation of SDOF damped system

Example
ƒ In a free vibration test, the damped oscillation frequency of a system is
obtained as 10Hz. While, in the harmonic excitation test at constant
vibrating force, the maximum amplitude is recorded when frequency
reaching 9.5 Hz. Find the damping factor and the natural frequency of the
system.

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 34

3.0 Harmonic excitation of SDOF damped system
ƒ Solution
ଶ଴గ
Given ߱ௗ ൌ ʹߨሺͳͲሻ, ߱ ൌ ʹߨሺͻǤͷሻ, thus, ߱௡ ൌ
ଵି]మ

ఠ ଵଽగ ଵି]మ
‫ݎ‬ൌ ఠ೙
ൌ ଶ଴గ
ൌ ͲǤͻͷ ͳ െ ]ଶ
ఠ
At peak amplitude, ൌ ͳ െ ʹ]ଶ
ఠ೙

We have, ͳ െ ʹ]ଶ ൌ ͲǤͻͷ ͳ െ ]ଶ

ͲǤͻͲ͵ െ ͲǤͻͲ͵]ଶ െ ͳ ൅ ʹ]ଶ ൌ Ͳ Æ ] ൌ ͲǤ͵

The natural frequency can be obtained from:-

ଶ଴గ ଶ଴గ
Æ ߱௡ ൌ ൌ ൌ ͸ͷǤͺ͹ ‫݀ܽݎ‬Ȁ‫ݏ‬
ଵିሺ଴Ǥଷሻమ
ଵି]మ

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 35

Class exercise
ƒ Consider the mechanical system shown in the figure below,
a. Write the equation of motion for the system
b. Determine the natural frequency and the damping ratio for the system
c. Find the frequency ratio, magnification factor and steady state amplitude of
the system.

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 36

Class exercise
Solution
ƒ Draw FBD and KD. Identify the generalized coordinate of the system

ƒ Apply Euler’s law & write the equation of motion

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 37

Class exercise
ƒ Determine the natural frequency and the damping ratio for the system

ƒ Find the frequency ratio, magnification factor and steady state amplitude
of the system

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 38

Tutorial 3.2
ƒ Derive the equation of motion for the system shown below

଻ ଵ ଽ ଵ
Ans : ݉‫ܮ‬ଶ ߠሷ ൅ ܿ‫ܮ‬ଶ ߠሶ ൅ ݇‫ܮ‬ଶ ߠ ൌ ‫ܯ‬௢ •‹ ߱‫ ݐ‬െ ‫ܨ‬௢ ‫ݐ߱ ‹• ܮ‬
ସ଼ ଵ଺ ଵ଺ ସ

ƒ For the system shown below, given that ω = 100 rad/s and ℓ = 20 cm,
determine the steady state amplitude of angular oscillation of the bar.

Ans: 1.7o
MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 39

4.0 Response Due to Harmonic Motion of Support

External excitation induced by support in motion
ƒ Example : vehicle traveling on a bumpy road
ƒ Uneven road surface can be expressed as harmonic
excitation

Consider a simplified model of vehicle as shown in

fig. (b)
ƒ The road surface has peak-to-peak amplitude of 2Y.
ƒ The road surface has the wave length of λ
ƒ The vehicle travels at speed v m/s
ƒ The road surface can be expressed as sinusiodal
function

‫ ݐ ݕ‬ൌ ܻ‫ݐ߱݊݅ݏ‬ 20

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 40

4.0 Response Due to Harmonic Motion of Support

Vehicle speed = v m/s

Road surface wavelength (peak to peak distance) = λ m = one cycle
Time taken to travel from peak to peak distance (λ) = period of oscillation
஛ ଶగ ଶగ௩
Thus, the period, ܶ஛ ൌ (s), the frequency, ߱ ൌ ൌ (rad/s)
௩ ்ಓ ஛

‫ ݐ ݕ‬ൌ ܻ‫ݐ߱ ݊݅ݏ‬

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 41

4.0 Response Due to Harmonic Motion of Support

ƒ The FBD for the car is shown in Fig. (a)
ƒ The net elongation of the spring is ‫ ݔ‬െ ‫ݕ‬
ƒ The relative velocity between two ends of the damper is
‫ݔ‬ሶ െ ‫ݕ‬ሶ
ƒ The equation of motion according to the FBD is obtained
as:
݉‫ݔ‬ሷ ൅ ܿ ‫ݔ‬ሶ െ ‫ݕ‬ሶ ൅  ‫ ݔ‬െ ‫ ݕ‬ൌ Ͳ
ƒ We are interested to find out:
¾ The amplitude of oscillation, X
¾ The time response of the displacement, x(t)

ƒ Rearrange the equation Fig. (a)

݉‫ݔ‬ሷ ൅ ܿ‫ݔ‬ሶ ൅ ݇‫ ݔ‬ൌ ܿ‫ݕ‬ሶ ൅ ݇‫ݕ‬ 21

ƒ If ‫ ݐ ݕ‬ൌ ܻ •‹ ߱‫ݐ‬, then

݉‫ݔ‬ሷ ൅ ܿ‫ݔ‬ሶ ൅ ݇‫ ݔ‬ൌ ܻܿ߱ …‘• ߱‫ ݐ‬൅ ܻ݇ •‹ ߱‫ݐ‬

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 42

4.0 Response Due to Harmonic Motion of Support
ƒ If ܻܿ߱ ൌ ‫ ߙ ‹• ܣ‬and -ܻ݇ ൌ ‫ ߙ ݏ݋ܿ ܣ‬and substitute into eqn. 1 then
݉‫ݔ‬ሷ ൅ ܿ‫ݔ‬ሶ ൅ ݇‫ ݔ‬ൌ ‫‹• ܣ‬ሺ߱‫ ݐ‬െ ߙሻ

ƒ where ‫ ܣ‬ൌ ܻ ݇ ଶ ൅ ሺܿ߱ሻଶ , and Ƚ ൌ ‫ି݊ܽݐ‬ଵ െ ௖ఠ

௞

ƒ Recall our steady state response for a spring-mass-damper system

ி೚
݉‫ݔ‬ሷ ൅ ܿ ‫ݔ‬ሶ ൅ ݇‫ ݔ‬ൌ ‫ܨ‬௢ •‹ ߱‫ ݐ‬ÆÆ ‫ݔ‬௣ ൌ •‹ሺ߱‫ ݐ‬െ ߮ሻ
ሺ௞ି௠ఠమ ሻమ ାሺ௖ఠሻమ

஺
݉‫ݔ‬ሷ ൅ ܿ ‫ݔ‬ሶ ൅ ݇‫ ݔ‬ൌ ‫‹• ܣ‬ሺ߱‫ ݐ‬െ ߙሻ Æ Æ ‫ݔ‬௣ ൌ ሺ௞ି௠ఠమ ሻమ ାሺ௖ఠሻమ
•‹ሺ߱‫ ݐ‬െ ߮ െ ߙሻ

ƒ Therefore,
ܻ ݇ ଶ ൅ ሺܿ߱ሻଶ
‫ݔ‬௣ ൌ •‹ሺ߱‫ ݐ‬െ ߮ െ ߙሻ 22
ሺ݇ െ ݉߱ ଶ ሻଶ ൅ሺܿ߱ሻଶ
௖ఠ ିଵ െ ௖ఠ
ƒ Where ɔ ൌ ‫ି݊ܽݐ‬ଵ ௞ି௠ఠ మ and ߙ ൌ ‫݊ܽݐ‬
௞

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 43

4.0 Response Due to Harmonic Motion of Support

ƒ Or, we can simplify the steady state response of the mass as:
௒ ௞ మ ା ௖ఠ మ ଶ] ௥ య
‫ݔ‬௣ ሺ‫ݐ‬ሻ ൌ •‹ሺ߱‫ ݐ‬െ ߴሻ, where ߴ ൌ ‫ି݊ܽݐ‬ଵ 23
௞ି௠ఠమ మ ା ௖ఠ మ ଵାሺସ]మ ିଵሻ௥ మ

ƒ The amplitude of oscillation is obtained as

௒ ௞ మ ାሺ௖ఠሻమ ௑ ௞ మ ାሺ௖ఠሻమ
ܺൌ or ൌ
ሺ௞ି௠ఠమ ሻమ ାሺ௖ఠሻమ ௒ ሺ௞ି௠ఠమ ሻమ ାሺ௖ఠሻమ

ƒ Rearrange the equation (divide every term with k),

௑ ଵାሺଶ]௥ሻమ
ൌ 24
௒ ሺଵି௥ మ ሻమ ାሺଶ ] ௥ሻమ
ƒ If Z is the relative displacement between the mass and the base, then
௒௥ మ
ܼൌ 25
ሺଵି௥ మ ሻమ ାሺଶ]௥ሻమ

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 44

4.0 Response Due to Harmonic Motion of Support
ƒ Transmissibility, ܶௗ is defined as the ratio of the transmitted force to that
of the disturbing force
‫ܨ‬ௗ ݉ ȉ ‫ݔ‬ሷ ‫ݔ‬ሷ ߱ଶ ܺ ܺ
ܶௗ ൌ ൌ ൌ ൌ ଶ ൌ 26
‫ܨ‬଴ ݉ ȉ ‫ݕ‬ሷ ‫ݕ‬ሷ ߱ ܻ ܻ

ଵାሺଶ]௥ሻమ
Displacement transmissibility, ܶௗ ൌ 27
ሺଵି௥ మ ሻమ ାሺଶ]௥ሻమ
ƒ The maximum force transmitted to the base is given by
‫ܨ‬ௗ ൌ ‫ܨ‬଴ ȉ ܶௗ

ଶ ଵାሺଶ]௥ሻమ
‫ܨ‬ௗ ൌ ܻ݇‫ݎ‬ 28
ሺଵି௥ మ ሻమ ାሺଶ ] ௥ሻమ

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 45

4.0 Response Due to Harmonic Motion of Support

Plot of displacement transmissibility (Td) versus frequency ratio
(r)

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 46

4.0 Response Due to Harmonic Motion of Support
Td Vs r summary

ƒ ܶௗ ൌ ͳ for all values of ] at ‫ ݎ‬ൌ ʹ

ƒ For ‫ ݎ‬൏ ʹ amplification zone, whereby the output response is greater
than the input
ƒ For ‫ ݎ‬൐ ʹ isolation zone, whereby the output response is smaller than
the input
ƒ Maximum transmissibility attained at Ͳ ൏ ] ൏ ͳ and ‫ ݎ‬൏ ͳ, and is given
by:
ͳ 29
‫ݎ‬௠௔௫ ൌ ͳ ൅ ͺ]ଶ െ ͳ
ʹ]

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 47

4.0 Response Due to Harmonic Motion of Support

Example
ƒ The simple model of motor vehicle
is shown in the figure, that can
vibrate in the vertical direction
while traveling over a rough road.
The vehicle has a mass of 1200
kg. The suspension system has a
spring constant of 400 kN/m and a
damping ratio of 0.5. If the vehicle
speed is 20 km/h, determine the
displacement amplitude of the
vehicle. The road surface varies
sinusoidally with an amplitude of Y
= 0.05m and a wavelength of 6m.

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 48

4.0 Response Due to Harmonic Motion of Support
Solution
௞௠ ଵ௛௥
݇ ൌ ͶͲͲ ݇ܰȀ݉; ݉ ൌ ͳʹͲͲ ݇݃Ǣ ൌ ͲǤͷǢ ‫ ݒ‬ൌ ʹͲ Ǥ
௛ ଷ଺଴଴௦
ൌ ͷǤͷͷ݉Ȁ‫ ܻ ;ݏ‬ൌ ͲǤͲͷ݉

௑ ଵାሺଶ]௥ሻమ
ൌ Ǣ ܺ ൌǫ ‫ ݒ‬ൌ ͷǤͷͷ݉ ݅݊ ͳ ‫ܿ݁ݏ‬Ǥ ܱ݊݁ ܿ‫ ݏ݅ ݈݁ܿݕܿ ݈݁݌݉݋‬͸݉
௒ ሺଵି௥ మ ሻమ ାሺଶ]௥ሻమ
ହǤହହ
Thus the frequency is ݂ ൌ ൌ ͲǤͻʹͷ‫ݖܪ‬Ǣ ݄ܶ‫ ߱ ݏݑ‬ൌ ʹߨሺͲǤͻʹͷሻ ൌ ͷǤͺͳ͵‫݀ܽݎ‬Ȁ‫ݏ‬
଺

௞ ସ଴଴ൈଵ଴య ହǤ଼ଵଷ
߱௡ ൌ ൌ ൌ ͳͺǤʹ͸ ‫݀ܽݎ‬Ȁ‫ ݎ ;ݏ‬ൌ ൌ ͲǤ͵ʹ
௠ ଵଶ଴଴ ଵ଼Ǥଶ଺

ͳ ൅ ሺʹ]‫ݎ‬ሻଶ ͳ ൅ ʹ ͲǤͷ ͲǤ͵ʹ ଶ

ܺൌܻ ൌ ሺͲǤͲͷሻ ൌ ͲǤͲͷͷ݉
ሺͳ െ ‫ ݎ‬ଶ ሻଶ ൅ሺʹ]‫ݎ‬ሻଶ ͳ െ ͲǤ͵ʹ ଶ ଶ ൅ ʹ ͲǤͷ ͲǤ͵ʹ ଶ

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 49

4.0 Response Due to Harmonic Motion of Support

Class exercise
ƒ A 50 kg mass is attached to the base through a spring in parallel with a
damper as shown in fig. below. 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) the amplitude of the
mass’s absolute displacement, b) the amplitude of its displacement
relative to its base [ans: a) 0.38m; b) 0.56m]

x(t)
k c

y(t) = 0.20 sin 30t

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 50

4.0 Response Due to Harmonic Motion of Support
Solution
݇ ൌ ͵ͲͲͲͲ ܰȀ݉; ݉ ൌ ͷͲ ݇݃Ǣ ߱ ൌ ͵Ͳ ‫݀ܽݎ‬Ȁ‫ ܻ ;ݏ‬ൌ ͲǤʹ ݉Ǣ ܿ ൌ ʹͲͲ ܰ‫ݏ‬Ȁ݉
௞ ଷ଴ൈଵ଴య ଷ଴
߱௡ ൌ ൌ ൌ ʹͶǤͶͻ ‫݀ܽݎ‬Ȁ‫ ݎ ;ݏ‬ൌ ൌ ͳǤʹʹ
௠ ହ଴ ଶସǤସଽ
ܿ ʹͲͲ
]ൌ ൌ ൌ ͲǤͲͺʹ
ʹ݉߱௡ ሺʹሻሺͷͲሻሺʹͶǤͶͻሻ
ଵାሺଶ]௥ሻమ ଵା ଶ ଵǤଶଶ ଴Ǥ଴଼ଶ మ
ܺൌܻ ൌ ሺͲǤʹሻ ൌ ͲǤ͵ͺ݉
ሺଵି௥ మ ሻమ ାሺଶ]௥ሻమ ଵି ଵǤଶଶ మ మ ା ଶ ଵǤଶଶ ଴Ǥ଴଼ଶ మ

ܻ‫ ݎ‬ଶ ሺͲǤʹሻሺͳǤʹʹሻଶ
ܼൌ ൌ ൌ ͲǤͷ͸݉
ሺͳ െ ‫ ݎ‬ଶ ሻଶ ൅ሺʹ]‫ݎ‬ሻଶ ሾͳ െ ͳǤʹʹ ଶ ሿଶ ൅ ʹ ͳǤʹʹ ͲǤͲͺʹ ଶ

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 51

4.0 Response Due to Harmonic Motion of Support

Class exercise
ƒ A 20 kg laboratory equipment is to be mounted on a table that is bolted to
the floor. Measurements indicate that due to the operation of a nearby
pump that operates at 2000 rpm, th etable has a steady state
displacement of 0.25 mm. The equipment’s acceleration amplitude is
required to be less than 4 m/s^2.
a) Write the equation of motion of the equipment
b) Determine the transmissibility ratio
c) Determine the minimum frequency ratio
d) Determine the maximum natural frequency and isolator stiffness
e) If a damping ratio of 0.1 is installed to the isolator, what is the expected
acceleration level of the equipment?

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 52

Class exercise
Solution
ƒ Write the equation of motion of the equipment

ƒ Determine the transmissibility ratio

ƒ Determine the minimum frequency ratio

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 53

Class exercise
ƒ Determine the maximum natural frequency and isolator stiffness

ƒ If a damping ratio of 0.1 is installed to the isolator, what is the expected

acceleration level of the equipment?

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 54

Tutorial 3.3
ƒ A simplified model of a vehicle
suspension system is shown in
fig. 3-20. The body of a 500 kg
vehicle is connected to the
wheel through a suspension
system that is modelled as a
spring in parallel with a vicous
damper. The wheels are
assumed to be rigid and follow
the road contour as shown in
fig. 3-21. If the vehicle travels at
52 km/hr, determine the
amplitude of the vehicle.

Ans: 11.7 m/s-2

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 55

Tutorial 3.3
ƒ A 200 kg laboratory experimental equipment is to be mounted on a table
that is bolted to the floor. Measurements indicate that due to the
operation of a nearby pump that operates at 2000 rpm, the table has a
steady state displacement of 0.25 mm. The equipment’s acceleration
amplitude is required to be less tan 4 m/s2.
a. Write down the equation of motion for the system.
b. Determine the transmissibility ratio
c. Determine the minimum frequency ratio
d. Determine the maximum natural frequency and isolator stiffness
e. If a damping ratio of 0.2 is installed to the isolator, what is the expected
acceleration level of the equipment?

Ans:
b) 0.36
c) 1.94
d) 107.95 rad/s ; 233 kN/m
d)4.17 m/s-2

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 56

5.0 Response Due to Rotating Unbalance

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 57

5.0 Response Due to Rotating Unbalance

Rotating unbalanced
ƒ Unbalanced forces in many rotating
mechanism is the common sources of
vibration excitation.

Equation of motion
ƒ Consider the rotating component is
mounted in bearing and rotates
counterclockwise. ω
m
e
ƒ Variables: o
¾ M = total mass of the system M
¾ m = eccentric mass located at e from the
center of rotation. k c

¾ x = the displacement of the machine in

vertical direction
¾ Z = angular speed
¾ t = time MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 58
5.0 Response Due to Rotating Unbalance
ƒ The non-rotating mass = ‫ ܯ‬െ ݉
ƒ The component of the displacement of the eccentric mass ‫ݔ‬௠
ω
in vertical direction is given by:
‫ݔ‬௠ ൌ ‫ ݔ‬൅ ݁ •‹ ߱‫ݐ‬ m
e
ƒ the acceleration is obtained as ωt
o ݁ …‘• ߱‫ݐ‬
‫ݔ‬ሷ ௠ ൌ ‫ݔ‬ሷ െ ߱ଶ ݁ •‹ ߱‫ݐ‬
ƒ The total inertia forces of the machine ൌ ‫ ܯ‬െ ݉ ‫ݔ‬ሷ ൅ ݉‫ݔ‬ሷ ௠
ƒ Applying Newton’s second law of motion
െܿ‫ݔ‬ሶ െ ݇‫ ݔ‬ൌ ‫ ܯ‬െ ݉ ‫ݔ‬ሷ ൅ ݉‫ݔ‬ሷ ௠
‫ ܯ‬െ ݉ ‫ݔ‬ሷ ൅ ݉ ‫ݔ‬ሷ െ ߱ଶ ݁ •‹ ߱‫ ݐ‬െ ܿ ‫ݔ‬ሶ െ ݇‫ ݔ‬ൌ Ͳ m
ሺ‫ ܯ‬െ ݉ሻ‫ݔ‬ሷ ݉‫ݔ‬ሷ ௠
ƒ Thus, the equation of motion is obtained as, M
ଶ
‫ݔܯ‬ሷ ൅ ܿ ‫ݔ‬ሶ ൅ ݇‫ ݔ‬ൌ ݉ ݁ ߱ •‹ ߱‫ݐ‬ 30

ƒ Where, ‫ ܨ‬ൌ ݉ ݁ ߱ଶ is the centrifugal force ݇‫ݔ‬ ܿ ‫ݔ‬ሶ

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 59

5.0 Response Due to Rotating Unbalance

ƒ Comparing this equation with fundamental equation
Basic damped forced equation Equation 4
௖ ሶ௞ ி೚ ܿ ݇ ݉ ݁ ߱ଶ
‫ݔ‬ሷ ൅ ‫ݔ‬ ൅ ‫ݔ‬ൌ •‹ ߱‫ݐ‬ ‫ݔ‬ሷ ൅ ‫ݔ‬ሶ ൅ ‫ ݔ‬ൌ •‹ ߱‫ݐ‬
௠ ௠ ௠ ‫ܯ‬ ‫ܯ‬ ‫ܯ‬

ƒ We obtain that ‫ܨ‬௢ ൌ ݉݁ ߱ଶ

ƒ Recall the steady state solution for the system
ఋೞ೟ ଶ௥]
ƒ ‫ݔ‬௣ ‫ ݐ‬ൌ •‹ሺ߱‫ ݐ‬െ ߮ሻ, where ߮ ൌ ‫ି݊ܽݐ‬ଵ
ଵି௥ మ
,
ሺଵି௥ మ ሻమ ାሺଶ௥ ]
ሻమ

ி೚ ௠௘ఠమ ௠
and ߜ௦௧ ൌ ൌ ൌ ݁ ‫ݎ‬ଶ
௞ ఠ೙ మ ெ ெ

ƒ Finally the steady state response is obtained as:

݉݁߱ଶ Ȁ݇
‫ݔ‬௣ ‫ ݐ‬ൌ ‫݊݅ݏ‬ሺ߱‫ ݐ‬െ ߮ሻ
ሺͳ െ ‫ ݎ‬ଶ ሻଶ ൅ሺʹ‫]ݎ‬ሻଶ

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5.0 Response Due to Rotating Unbalance
ƒ This equation can also be written as
݉݁‫ ݎ‬ଶ
‫ݔ‬௣ ‫ ݐ‬ൌ •‹ሺ߱‫ ݐ‬െ ߮ሻ 31
‫ ܯ‬ሺͳ െ ‫ ݎ‬ଶ ሻଶ ൅ሺʹ‫]ݎ‬ሻଶ

ƒ Thus the amplitude of vibration is obtained as

݉݁‫ ݎ‬ଶ ݉݁߱ଶ
ܺൌ ‫ ܺ ݎ݋‬ൌ 32
‫ ܯ‬ሺͳ െ ‫ ݎ‬ଶ ሻଶ ൅ሺʹ‫]ݎ‬ሻଶ ሺ݇ െ ߱ ଶ ‫ܯ‬ሻଶ ൅ሺܿ߱ሻଶ
ƒ The phase angle
ʹ‫]ݎ‬ ܿ߱
߮ ൌ ‫ି݊ܽݐ‬ଵ ‫ ߮ ݎ݋‬ൌ ‫ି݊ܽݐ‬ଵ 33
ͳ െ ‫ݎ‬ଶ ݇ െ ߱ଶ‫ܯ‬
ƒ The force transmitted to the base
݉݁߱ଶ ͳ ൅ ʹ‫]ݎ‬ ଶ
‫ܨ‬ൌ •‹ሺ߱‫ ݐ‬െ ߮ሻ 34
ሺͳ െ ‫ ݎ‬ଶ ሻଶ ൅ሺʹ‫]ݎ‬ሻଶ

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 61

5.0 Response Due to Rotating Unbalance

Variation of rotating unbalance (MX/me) with frequency ratio

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 62

5.0 Response Due to Rotating Unbalance
MX/me versus r, summary
ƒ At very high speed, the rotating unbalance is almost unity is almost unity
and the effect of damping is negligible
ெ௑ ௗ ெ௑
ƒ For Ͳ ൏ ] ൏ ͳ ௠௘ ௠௔௫
occur when
ௗ௥ ௠௘
ൌ Ͳ, where the solution leads
ଵ
to: ‫ ݎ‬ൌ
ଵିଶ[మ

ெ௑ ଵ
Thus, ൌ
௠௘ ௠௔௫
ଶ] ଵି[మ

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 63

5.0 Response Due to Rotating Unbalance

Example
ƒ An electric generator weighing 981 N and operating at 600 rpm is
mounted on four parallel springs of stiffness 5000 N/m each. Determine
the maximum permissible unbalance in order to limit the steady state
deflection to 6 mm peak-to-peak.

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 64

5.0 Response Due to Rotating Unbalance
௥௘௩ ଶగ௥௔ௗ ଵ௠௜௡
ƒ Given: W= 981N Æ M = 100 kg; ߱ ൌ ͸ͲͲ‫ ݉݌ݎ‬ൌ ͸ͲͲ ௠௜௡
ൈ
ଵ௥௘௩
ൈ
଺଴௦
ൌ
͸ʹǤͺͶͲ ‫݀ܽݎ‬Ȁ‫ݏ‬
k = 5000 N/m, keq = 4 X 5000 = 20000N/m; X = 6/2 = 3mm

௞ ଶ଴଴଴଴ ఠ ଺ଶǤ଼ସ଴
߱௡ ൌ ൌ ൌ ͳͶǤͳͶʹ ‫݀ܽݎ‬Ȁ‫ ݎ ;ݏ‬ൌ ൌ ൌ ͶǤͶͶ͵
ெ ଵ଴଴ ఠ೙ ଵସǤଵସଶ

௠௘௥ మ
From: ܺ ൌ ; Since, c is not given then ] = 0. Thus ܺ ൌ
ெ ሺଵି௥ మ ሻమ ାሺଶ௥]ሻమ
௠௘௥ మ
ெȁଵି௥ మ ȁ

௠௘ሺସǤସସଷሻమ
ͲǤͲͲ͵ ൌ ; ݉݁ ൌ ૙Ǥ ૛ૡ૞ kg.m
ሺଵ଴଴ሻȁଵିሺସǤସସଷሻమ ȁ

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 65

5.0 Response Due to Rotating Unbalance

Example
ƒ An electric motor of mass M, mounted on an elastic
foundation, is found to vibrate with a deflection of
0.15 m at resonance. It is known that the unbalanced
mass of the motor is 8% of the mass of the rotor due
to manufacturing tolerances used, and the damping
ratio of the foundation is 0.025, Determine:
a) the eccentricity or radial location of the
unbalanced mass (e).
b) the peak deflection of the motor when the
frequency ratio varies from resonance
c) the additional mass to be added uniformly to the
motor if the deflection of the motor is to be reduced
to 0.1 m.

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 66

5.0 Response Due to Rotating Unbalance
Solution
2. Given: X = 0.15 m; at resonance, r = 1; m = 0.08M; ] = 0.025;

௠௘௥ మ ௠௘
a) From: ܺ ൌ ; Since, r = 1, then ܺ ൌ
ଶெ]
ெ ሺଵି௥ మ ሻమ ାሺଶ௥]ሻమ

ሺ଴Ǥ଴଼ெሻ௘
0.15ൌ ; ݁ ൌ ૙Ǥ ૙ૢ૝࢓
ଶெሺ଴Ǥ଴ଶହሻ

௠௘ ሺ଴Ǥ଴଼ெሻሺ଴Ǥ଴ଽସሻ
b) ܺ௠௔௫ ൌ ൌ ൌ ૙Ǥ ૚૞૙࢓
ሺଶሻሺ଴Ǥ଴ଶହሻெ ଵି଴Ǥ଴ଶହమ
ଶ]ெ ଵି]మ

ெ௑ ଵ ሺெାெೌ ሻ௑ ଵ
c) From ൌ Ǣ ൌ ൌ ʹͲ
௠௘ ௠௔௫ ௠௘ ሺଶሻሺ଴Ǥ଴ଶହሻ ଵି଴Ǥ଴ଶହమ
ଶ] ଵି]మ

ሺெାெೌ ሻሺ଴Ǥଵ
ൌ ʹͲ Æ ‫ܯ‬௔ ൌ ͲǤͷ‫ ܯ‬or add in 50% of the mass to reduce
ሺ଴Ǥ଴଼ெሻሺ଴Ǥ଴ଽସ
deflection of the motor at resonance.
MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 67

6.0 Vibration Isolation

Vibration isolation in industry

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 68

6.0 Vibration Isolation
Vibration isolation and force transmissibility
ƒ To minimize excessive vibration excitation that may
contribute to system failure, an isolator is installed to
support the structure
ƒ Good isolator design must consider proper selection of
the stiffness and damping coefficients.
ƒ Transmissibility, ܶௗ is defined as the ratio of the
transmitted force to that of the disturbing force

ி೏ ௑ ଵାሺଶ]௥ሻమ
ܶௗ ൌ ൌ ൌ
ிబ ௒ ሺଵି௥ మ ሻమ ାሺଶ]௥ሻమ

ƒ To reduce the amplitude X without changing Td, m k

¾ Isolated mass m can be mounted on larger mass M
௞ M
¾ The stiffness k must be increased to keep the ratio
௠ାெ
constant

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 69

6.0 Vibration Isolation

ƒ Material selection for vibration isolator

Open spring mount Pneumatic isolator Pipe hangers

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 70
6.0 Vibration Isolation
Example
ƒ A machine of mass 100 kg is mounted on springs and
damper as shown in the figure. The total spring stiffness is
50,000 N/m and the damping factor is 0.20. A harmonic
force, F = 500 sin 13.2t acts on the mass. Determine:-
a) the amplitude of the motion of the machine
b) its phase with respect to the existing force
c) the transmissibility
d) the maximum dynamic force transmitted to the foundation
e) the maximum velocity of the motion

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 71

6.0 Vibration Isolation

Solution
ƒ Given: m = 100 kg, k = 50000 N/m; ] = 0.20; ‫ ܨ‬ൌ ͷͲͲ •‹ ͳ͵Ǥʹ‫ݐ‬
௞ ହ଴଴଴଴ ఠ ଵଷǤଶ
߱௡ ൌ ൌ ൌ ʹʹǤ͵͸ͳ‫݀ܽݎ‬Ȁ‫ݏ‬, Z = 13.200 rad/s; ‫ ݎ‬ൌ ൌ ൌ ͲǤͷͻͲ; ߜ௦௧ ൌ
௠ ଵ଴଴ ఠ೙ ଶଶǤଷ଺ଵ
ହ଴଴
ହ଴଴଴଴
ൌ ͲǤͲͳ݉

ఋೞ೟ ଴Ǥ଴ଵ
ƒሻ  ൌ ൌ
ሺଵିሺ଴Ǥହଽሻమ ሻమ ାሺሺଶሻሺ଴Ǥହଽሻሺ଴Ǥଶሻሻమ
ൌ ͲǤͲͳͶ݉
ሺଵି௥ మ ሻమ ାሺଶ௥]ሻమ

ଶ௥] ିଵ ሺଶሻሺ଴Ǥହଽሻሺ଴Ǥଶሻ
„ሻ ߮ ൌ ‫ି݊ܽݐ‬ଵ ଵି௥ మ ൌ ‫݊ܽݐ‬ ଵି଴Ǥହଽమ
ൌ ͲǤ͵Ͷͻ‫݀ܽݎ‬

ଵାሾ ଶ ଴Ǥହଽ ଴Ǥଶ ሿమ

c) Transmissibility, ܶௗ ൌ ሾଵି ଴Ǥହଽ మ ሿమ ାሾ ଶ ଴Ǥହଽ ଴Ǥଶ ሿమ
ൌ ͳǤͶͺ͵

d) From ‫ ்ܨ‬ൌ ‫ܨ‬௢ ߚ் •‹ሺ߱‫ ݐ‬െ ߮ሻ,

ത thus ‫ܨ‬௠௔௫ ൌ ‫ܨ‬௢ ܶௗ ൌ ͷͲͲ ͳǤͶͺ͵ ൌ ͹ͶͳǤ͵ͷ͵ ܰ

‡ሻ ܺ௠௔௫ ൌ ܺ߱௡ ൌ ͲǤͲͳͶ ʹʹǤ͵͸ͳ ൌ ͲǤ͵ͳ͵ ݉Ȁ‫ݏ‬

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 72

Tutorial 3.4
ƒ A single cylinder vertical petrol engine of 300 kg total mass is mounted
upon a steel chassis frame and causes a vertical static deflection of 2
mm. The reciprocating parts of the engine of 20 kg mass and moves
through a vertical stroke of 0.15 m with simple harmonic motion. A
dashpot is provided whose damping resistance is directly proportional to
the velocity and amount to 1500 Ns/m. Considering the steady state of
vibration is reached, determine
a. The amplitude of forced vibrations when the driving shaft of the engine rotates
at 480 rev/min
b. The speed of the driving shaft at which the resonance will occur
Ans: a) 5.35 mm ; b) 668.83 rev/min

ƒ A vertical single stage air compressor having a mass of 500 kg is

mounted on spring with k = 1.96 x 105 N/m and a dashpot with damping
factor of 0.2. The reciprocating unbalanced mass is 20 kg. The stroke is
0.2mm. Determine the dynamic amplitude of vertical motion and the
phase difference between the motion and exiting force if the compressor
is operated at 200 rev/min Ans: 0.01 m ; 105.9o

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 73

7.0 End Chapter Problems

1. An electric motor of mass 100 kg is mounted on
an elastic foundation of linear spring stiffness of 2
X 106 N/m. When operating at 120 rad/s, the
motor is subjected to a harmonic force of
magnitude 2000N and the steady state amplitude
of the electric motor is measured to be 2 mm.
Determine the damping ratio of the foundation.
2. When an exhaust fan of mass 380kg is supported
on springs with negligible damping, the resulting
static deflection is found to be 45mm. If the fan
has rotating unbalance of 0.15 kg-m find: a) the
amplitude of vibration at 1750 rpm, and b) the
force transmitted to the ground at this speed.
b) Redesign the machine so that the dynamic
amplitude is reduced to one half of the original
value, but maintains the same natural frequency.
4. A machine has a resonant frequency at 400 rpm
when supported on four steel springs for which
damping factor can be neglected. At 800 rpm, the
undamped amplitude of vibration was 0.5 mm.
Determine: a) The amplitude of vibration if the
steel springs are replaced by four rubber isolators
with damping ratio of 0.25. (The resonant
frequency is unchanged) b) The amplitude of
vibration at speed of 1200 rpm with the four
rubber isolators.

3. A machine weighting 114 kg has a rotor of 23 kg
with 5 mm eccentricity. The operating speed is
600 rpm. The machine is mounted on springs with
9 kg/mm springs constant. If the damping is
neglected and the unit is considered to move
vertically, a) Determine the dynamic amplitude of
the machine.
5. A light machine tool of mass m = 80kg is mounted
on an elastic foundation. An experiment is carried
out to determine the stiffness and damping
properties of the foundation. When the mass is
excited with harmonic force of magnitude 4000N
with increasing frequencies (0 Æ∞), the maximum
steady state amplitude of 4mm is

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7.0 End Chapter Problems
obtained at operating frequency 40π rad/s. a)
determine the relationship between the maximum
steady state amplitude and frequency ratio. b)
determine the natural frequency and damping
ratio of the foundation. c) determine the stiffness
of the foundation.
7. A machine of mass 25kg is placed on an elastic
foundation. A sinusoidal force of 25N is applied to
the machine. A frequency sweep revealed that
the maximum steady state amplitude of 1.4mm
occurs when the period of response is 0.2s.
Determine the equivalent stiffness and damping
ratio of the foundation.

6. A flow measuring device as shown in fig. 9.1 has

mass of 40kg and is placed on a laboratory table.
A rubber pad which is represented as a spring
and a damper has stiffness of 2 X 105 N/m and
damping ratio of 0.1. Measurement on the floor
indicate that the floor has steady state amplitude
of Y = 5mm at frequency 30 Hz. A) derive the
equation of motion for the measuring system, b)
determine the natural frequency, frequency ratio
and the absolute displacement of the mass. What
is the acceleration amplitude of the mass, c) at
what frequency ratio will the maximum amplitude
occur?
m
8. An electric motor with an unbalanced rotor is
supported with a dashpot and spring. The spring
has stiffness 128 kN/m and the dashpot offers
resistance of magnitude 500N at 4 m/s. The
unbalanced mass of 0.5kg rotates at 5cm radius
and the total mass of vibratory system is 200 kg.
The motor runs at 4000 rpm. Determine: a) the
damping factor; b) the amplitude of vibration and
phase angle, c) the resonant speed and the
resonance amplitude, d) the force exerted by
spring and dashpot on the motor.

x(t)
k c

y(t)
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7.0 End Chapter Problems

9. Consider the pivoted mechanism as shown in
fig. 9 which could be used to model a brake
pedal of automobile, with k = 4000 N/m, l1 =
0.05 m, l2 = 0.07 m, l = 0.1 m and m = 5 kg.
The mass of the beam is negligible and it is
pivoted at point o. The harmonic force F(t) is
applied at bottom end of the mechanism.
a) Write two assumption used for this model
and draw FBD to represent the system
b) Derive the equation of motion
c) Determine the natural frequency
d) Design the dashpot (c) if the damping ratio
of the system is 0.2
e) Determine the amplitude of steady state
response if a 10N force is applied to the
mass a frequency of 10 rad/s.

Fig. 9

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7.0 End Chapter Problems
Answer
1) 0.242

2) a) 3.97×10-4 m; b) 32.91 N

3) X = 1.255 mm, Redesign: Xnew = 0.6275 mm and

ξnew = 1.572.

4) a) X2 = 0.474 mm, b) X3 = 0.184 mm

ఋೞ೟ ಾೌೣ
5) a) ܺ௠௔௫ ൌ ; b) 127 rad/s, (0.108 and
ଶ[ ଵି[మ

0.897); c) 1.297 x106 N/m

6) a) 40‫ݔ‬ሷ ൅ ͷ͸ͷǤ͸‫ݔ‬ሶ ൅ ሺʹͲ ൈ ͳͲହ ሻ ‫ ݔ‬ൌ ͷ͸ͷǤ͸‫ݕ‬ሶ ൅ ሺʹͲ ൈ

ͳͲହ ሻ‫ݕ‬, b) 70.7 rad/s, 2.66, 9.28mm, c) 0.99

7) 30 kN/m; 0.3

8) a) 0.0124, b) 1.25 x10-4 m, -0.086o; c) 5.04m;

d) 25.09N
9) b) ݈݉ ଶ ‫ݔ‬ሷ ൅ ݈ܿଶଶ ‫ݔ‬ሶ ൅ ݈݇ଵଶ ‫ ݔ‬ൌ ‫ܨ‬ሺ‫ݐ‬ሻ
c) 14.14 rad/s
d) 57.7 Ns/m
e) 4.3 x 10-3 m

27.03.2012 Azmi M.Yusof 77