208322 Mechanical Vibrations

Lesson 6
Since the free-vibration response xh ( t ) dies out with time under each of
One Degree of Freedom, Harmonically the three conditions of damping (underdamping, critical damping, and
Excited Vibrations overdamping), the general solution eventually reduces to the particular
solution x p ( t ) , which represents the steady-state vibration. Figure 2
1 Forced Harmonic Vibration shows homogeneous, particular, and general solutions for the
A mechanical system is said to undergo forced vibration whenever underdamped case.
external energy is supplied to the system during vibration. External energy
can be from either an applied force or an imposed displacement excitation.
The applied force or displacement excitation may be harmonic,
nonharmonic but periodic, nonperiodic, or random.
Harmonic excitations are of the forms, for example,

F ( t ) = F0 e (
i ω t +Φ )
,
F ( t ) = F0 cos (ωt + Φ ) ,
F ( t ) = F0 sin (ωt + Φ ) ,

where F0 is the amplitude, ω is the frequency, and Φ is the phase angle Figure 1: A spring-mass-damper system.
usually taken to be zero.
Under a harmonic excitation, the response of the system will also
be harmonic with the same frequency as the excitation frequency. If the
frequency of the harmonic excitation is close to the system natural
frequency, the beating phenomenon will happen. This condition, known as
resonance, is to be avoided to prevent failure of the system.
Consider a system in Figure 1. The equation of motion is

mx

+ cx
+ kx = F ( t ) .

Its general solution is

x ( t ) = xh ( t ) + x p ( t ) ,

where xh ( t ) is the homogeneous solution (the solution when F ( t ) = 0 as

Figure 2: Homogeneous, particular, and
was studied in the free vibration) and x p ( t ) is the particular solution. general solutions for the underdamped case.

1 Copyright  2007 by Withit Chatlatanagulchai

 208322 Mechanical Vibrations
Lesson 6
1.1 Undamped System under F0 cos ωt The total response (2) can also be written in three cases as follows:
1) For ω / ωn < 1, we have
Consider the system in Figure 1 but without damper. If a force
F ( t ) = F0 cos ωt acts on the mass m, the equation of motion is given by
δ st
x ( t ) = A cos (ωnt − Φ ) + 2
cos ωt.
mx

+ kx = F0 cos ωt. (1) ω 
1−  
 ωn 
The solution is
2) For ω / ωn > 1, we have
x ( t ) = xh ( t ) + x p ( t ) ,
δ st
where x ( t ) = A cos (ωnt − Φ ) − 2
cos ωt.
ω 
xh ( t ) = C1 cos ωnt + C2 sin ωnt , 1−  
(2)  ωn 
x p ( t ) = X cos ωt.
3) For ω ≈ ωn , we have a beating phenomenon. Letting x0 = x
0 = 0, we
Applying initial conditions x ( 0 ) = x0 and x
( 0 ) = x
0 , and by substituting have
(2) into (1), the three unknowns C1 , C2 , and X can be solved, then the
( F0 / m )
solution becomes x (t ) = ( cos ωt − cos ωnt )
ωn2 − ω 2
(4)

x ( t ) =  x0 −
F0   x
  F0 
cos ωnt +  0  sin ωnt +  cos ωt.
( F / m )  2sin ω + ωn t ⋅ sin ωn − ω t  .
= 0
2  2 
 k − mω   ωn   k − mω  ωn2 − ω 2  2 2 

Letting δ st = F0 / k denote the static deflection of the mass under a Let the forcing frequency ω be slightly less than the natural frequency:
force F0 , we have
ωn − ω = 2ε . (5)

X 1
= . (3) Then ωn ≈ ω we have
δ st ω 
2

1−  
 ωn  ω + ωn ≈ 2ω. (6)

The quantity X / δ st represents the ratio of the dynamic to the static Using (5) and (6), (4) becomes
amplitude of motion and is called amplitude ratio.

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 208322 Mechanical Vibrations
Lesson 6
 F /m 
x (t ) =  0 sin ε t  sin ωt.
 2εω 

Define period of beating to be τ b = 2π / 2ε = 2π / (ωn − ω ) . Define

frequency of beating to be ωb = 2ε = ωn − ω.
The plots of the total responses of all three cases are given in
Figure 3.

Figure 3: Plots of total responses of the three

cases.

3 Copyright  2007 by Withit Chatlatanagulchai

 208322 Mechanical Vibrations
Lesson 6
☻ Example 1: [1] A reciprocating pump with mass 68 kg is mounted as
shown below at the middle of a steel plate of thickness 1 cm, width 50 cm,
and length 250 cm. During operation, the plate is subjected to a harmonic
force F ( t ) = 220 cos 62.832t N. Find the amplitude of vibration of the
plate.

Solution
The plate can be modeled as a fixed-fixed beam with equivalent
spring constant

192 EI
k=
l3
 1 3
192 ( 200 × 109 )  ( 50 × 10−2 )(10−2 ) 
=  12 
( 250 ×10 )
−2 3

= 102400.82 N / m.

From (3), we have

F0 / k
X = 2
ω 
1−  
 ωn 
220 /102400.82
= 2
 62.832 
1−  
 102400.82 / 68 
= −0.001325 m.

The negative sign indicates that the response x ( t ) is out of phase

with the excitation F ( t ) .

4 Copyright  2007 by Withit Chatlatanagulchai

 208322 Mechanical Vibrations
Lesson 6
1.2 Damped System under F0 cos ωt
For the damped system, the equation of motion becomes

mx

+ cx
+ kx = F0 cos ωt. (7)

Assume the particular solution in the form

x p ( t ) = X cos (ωt − Φ ) ,

where X and Φ are unknown constants to be determined. Substituting

into (7) and equating the coefficients of cos ωt and sin ωt on both sides,
we obtain Figure 4: Representation of forcing function
and response.
F0
X = 1/ 2
( k − mω 2 )2 + c 2ω 2  and
 
 ω 
and  2ζ
 ωn   2ζ r 
φ = tan −1  2
= tan −1  2 
 cω   ω   1− r 
Φ = tan −1  .
2 
 k − mω  1 −  ω  
  n 
Figure 4 shows plots of forcing function and particular solution.
The plots of amplitude ratio and phase angle versus frequency ratio are
Recall ωn = k / m = undamped natural frequency,
that given in Figure 5 and Figure 6 respectively.
ζ = c / cc = c / 2mωn , δ st = F0 / k = deflection under the static force F0 , The total response is given by
and r = ω / ωn = frequency ratio. The amplitude ratio and the phase angle
x ( t ) = xh ( t ) + x p ( t ) .
is given by
For an underdamped system, we have
X 1 1
= = (8)
δ st  2 2 2
1/ 2
(1 − r 2 ) 2 + (2ζ r ) 2 x(t ) = X 0 e −ζωnt cos(ωd t − φ0 ) + X cos(ωt − φ )
 ω    ω 
 1 −    +  2ζ  

   ω    ω  
n  n

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 208322 Mechanical Vibrations
Lesson 6
where ωd = 1 − ζ 2 ωn . X 0 and Φ 0 are unknown constants to be
determined from initial conditions. For the initial conditions x ( 0 ) = x0 and
x
( 0 ) = x
0 , we have two equations to solve for two unknowns

x0 = X 0 cos φ0 + X cos φ ,
(9)
x
0 = −ζωn X 0 cos φ0 + ωd X 0 sin φ0 + ω X sin φ0 .

Figure 6: Variation of Φ with r.

Figure 5: Variation of X / δ st with r.

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 208322 Mechanical Vibrations
Lesson 6
☻ Example 2: [1] Find the total response of a single degree of freedom For small values of damping, we can take
system with m = 10 kg , c = 20 N − s / m, k = 4000 N / m, x
0 = 0, and
x0 = 0.01 under an external force F ( t ) = F0 cos ωt with F0 = 100 N and X  X  1
  ≈  = =Q. (10)
ω = 10 rad / s. δ δ
 st  max  st ω =ωn 2ζ

The difference between the frequencies associated with the half power
( Q / 2 ) points R1 and R2 is called bandwidth of the system.

X / δ st

1
Q=
2ζ

Q
2
Solution
From the data, we have
Bandwidth
ωn = k / m = 4000 /10 = 20 rad / s,
δ st = F0 / k = 100 / 4000 = 0.025 m,
ζ = c / cc = c / 2 km = 20 / 2 ( 4000 )(10 ) = 0.05,
R1 1.0 R2 ω / ωn
ωd = 1 − ζ 2 ωn = 1 − ( 0.05 ) ( 20 ) = 19.97 rad / s,
2
Figure 7: Harmonic response curve showing
r = ω / ωn = 10 / 20 = 0.5. half power points and bandwidth.
δ st 0.025
X = = 1/ 2
= 0.03326m To find R1 and R2 , we set X / δ st = Q / 2 in (8) to obtain
(1 − r ) + (2ζ r )
2 2 2
(1 − 0.052 ) 2 + (2 ⋅ 0.5 ⋅ 0.5)2 
 2ζ r   2 ⋅ 0.05 ⋅ 0.5  r 4 − r 2 (2 − 4ζ 2 ) + (1 − 8ζ 2 ) = 0
φ = tan −1  2 
= tan −1   = 3.814075°
1− r   1 − 0.5 
2
whose solutions are
Substituting the data above into (9), we get
X 0 = 0.0233 and Φ 0 = 5.587.

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 208322 Mechanical Vibrations
Lesson 6
2 2
ω  ω  F0
r = R =  1  ≈ 1 − 2ζ , r22 = R22 =  2  ≈ 1 + 2ζ .
2 2 X =
(k − mω 2 ) + icω
 ωn   ωn 
1 1

 k − mω 2 cω 
= F0  − i
ω2 + ω1 = 2ωn and
Using the relation
 ( k − mω ) + c ω
2 2 2 2
(k − mω 2 )2 + c 2ω 2 
ω − ω = (ω2 + ω1 )(ω2 − ω1 ) = ( R22 − R12 )ωn2 ≈ 4ζωn2 , we have that
2
2 1
2
F0
the bandwidth is given by = e − iφ ,
2 2 1/ 2
 (k − mω ) + c ω 
2 2

∆ω = ω2 − ω1 ≈ 2ζωn .
where
Combining the bandwidth equation with (10), we obtain
 cω 
1 ωn φ = tan −1  2 
.
Q≈ ≈ .  k − mω 
2ζ ω2 − ω1
Thus, the particular solution (or steady-state solution) becomes
It can be seen that Q can be used for estimating the equivalent viscous
damping and the natural frequency in mechanical systems. F0
x p (t ) = ei (ωt −φ ) . (12)
2 1/ 2
( k − mω 2 ) 2 + (cω ) 
1.3 Damped System under F0eiωt
Let the harmonic forcing function be represented in complex form The complex frequency response of the system is defined to be
as F ( t ) = F0e . The equation of motion becomes
iωt

X 1
H (iω ) ≡ =
mx

+ cx
+ kx = F0e . iωt
(11) F0 / k 1 − r + i 2ζ r
2

Assume the particular solution whose magnitude is given by

x p ( t ) = Xeiωt . kX 1
H ( iω ) = = 1/ 2
.
F0 (1 − r 2 )2 + ( 2ζ r ) 2 
Substituting into (11), we have  

H ( iω ) can be used in the experimental determination of the system

parameters ( m, c, and k .)

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 208322 Mechanical Vibrations
Lesson 6
If F ( t ) = F0 cos ωt , the corresponding particular solution is the The equation of motion is given by

real part of (12), which is mx

+ c ( x
− y
) + k ( x − y ) = 0.

F0
x p (t ) = cos(ωt − φ ). Supposing that y ( t ) = Y sin ωt , the equation of motion becomes
2 1/ 2
 (k − mω ) + (cω ) 
2 2

mx

+ cx
+ kx = ky + cy
= kY sin ωt + cωY cos ωt

If F ( t ) = F0 sin ωt , the corresponding particular solution is the imaginary = A sin(ωt − α ),
part of (12), which is
 cω 
F0 where A = Y k 2 + (cω )2 and α = tan −1  −  . This is similar to
x p (t ) = 1/ 2
sin(ωt − φ ). (13)  k 
( k − mω 2 ) 2 + (cω ) 2  having the forcing function F ( t ) = F0 sin ωt acting on the system and the
same analysis as the previous section can be applied.
2 Support Motion The particular solution is similar to (13) and is given by
Sometimes the base or support of a spring-mass-damper system
undergoes harmonic motion, as shown in Figure 8. x p (t ) = X sin(ωt − φ1 − α )
Y k 2 + (cω ) 2
= 1/ 2
sin(ωt − φ1 − α ) ,
 (k − mω 2 ) 2 + (cω ) 2 
= X sin (ωt − φ ) ,

 cω 
where φ1 = tan −1  2 
and
 k − mω 
 mcω 3  −1  2ζ r 3 
φ = tan −1  2
= tan  2
.
 k (k − mω ) + (ωc)  1 + (4ζ − 1)r 
2 2

2.1 Displacement Transmissibility

The ratio of the amplitude of the response x p ( t ) to that of the
X
Figure 8: Base excitation. base motion y ( t ) , , is called the displacement transmissibility. The
Y
ratio is given by
9 Copyright  2007 by Withit Chatlatanagulchai
 208322 Mechanical Vibrations
Lesson 6
1/ 2 1/ 2
X  k 2 + (cω ) 2   1 + (2ζ r ) 2 
= = .
Y  (k − mω 2 ) + (cω ) 2  2
 (1 − r ) + (2ζ r ) 
2 2

The plots between X / Y and φ versus frequency ratio r = ω / ωn is given

in Figure 9.

Figure 9: The plots between X / Y and φ

versus frequency ratio r = ω / ωn .

2.2 Force Transmissibility

Let F be the force transmitted to the base or support due to the
reactions from the spring and the dashpot. We have

F = k ( x − y ) + c( x
− y
) = − mx

.

The steady-state solution x p ( t ) was found to be x p ( t ) = X sin (ωt − φ ) .

Therefore,

F = mω 2 X sin(ωt − φ ) = FT sin(ωt − φ ) .

FT is called dynamic force amplitude. The ratio FT / kY is called the force

transmissibility and is given by

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 208322 Mechanical Vibrations
Lesson 6
1/ 2 The steady-state solution is given similar to (13) by
FT 2 1 + (2ζ r ) 2 
=r  2
.
 (1 − r ) + (2ζ r ) 
2 2
kY mω 2Y sin(ωt − φ1 )
z (t ) = 1/ 2
= Z sin(ωt − φ1 ) ,
Figure 10 shows the force transmissibility. The force transmissibility
(k − mω 2 ) 2 + (cω ) 2 
concept is used in the design of vibration isolation systems.
where
mω 2Y r2
Z= =Y ,
(k − mω ) + (cω )
2 2 2
(1 − r ) + (2ζ r )
2 2 2

 cω   2ζ r 
φ1 = tan −1  2 
= tan −1  2 
.
 k − mω  1− r 
The ratio Z / Y is shown in Figure 11 and plot of φ1 is in Figure 6.

Figure 10: Force transmissibility.

2.3 Relative Motion

Let z = x − y denote the motion of the mass relative to the base.
The equation of motion becomes

mz

+ cz
+ kz = −my

= mω 2Y sin ωt.

Figure 11: Relative Motion plot.

11 Copyright  2007 by Withit Chatlatanagulchai

 208322 Mechanical Vibrations
Lesson 6
☻ Example 3: [1] Consider a simple model of a motor vehicle below. The
vehicle has a mass of 1200 kg. The spring constant is 400 kN/m and the
damping ratio of ζ = 0.5. If the vehicle speed is 20 km/hr, determine the
displacement amplitude of the vehicle. The road surface varies sinusoidally
with an amplitude of Y = 0.05 m and a wavelength of 6 m.

Solution
From the given data, we can compute the following quantities:
 20 × 1000  1 
ω = 2π f = 2π    = 0.291 rad / s,
 3600  6 
1/ 2
k  400 × 103 
ωn = =  = 18.2574 rad/s,
m  1200 
ω 5.81778
r= = = 0.318653 ,
ωn 18.2574
1/ 2
X  1 + (2ζ r ) 2 
= 
Y  (1 − r 2 )2 + (2ζ r ) 2 
1/ 2
 1 + (2 × 0.5 × 0.318653) 2 
= 2
,
 (1 − 0.318653) + (2 × 0.5 × 0.318653) 
2

X = 1.469237Y = 1.469237(0.05) = 0.073462 m.

12 Copyright  2007 by Withit Chatlatanagulchai

 208322 Mechanical Vibrations
Lesson 6
☻ Example 4: [1] A heavy machine, weighing 3000 N, is supported on a 3 Rotating Unbalance
resilient foundation. The foundation has spring stiffness k = 40, 000 N / m. Consider a machine with rotating unbalanced masses in Figure 12.
The machine vibrates with an amplitude of 1 cm when the base of the
foundation is subjected to harmonic oscillation at the undamped natural
frequency of the system with an amplitude of 0.25 cm. Find (a) the
damping constant of the foundation, (b) the dynamic force amplitude on
the base, and (c) the amplitude of the displacement of the machine
relative to the base.

Solution
a) Since ω = ωn , we have r = 1. Therefore,
1/ 2
X 0.01 1 + ( 2ζ )2 
= =4= 2 
.
Y 0.0025  ( 2ζ ) 

We then have ζ = 0.1291. The damping constant is given by

c = ζ ⋅ cc = ζ 2 km = 903.05 N − s / m.
1/ 2
1 + 4ζ 2 
b) FT = Yk  2 
= 400 N .
 4ζ 
Y 0.0025
c) Z = = = 0.00968 m .
2ζ 2 ( 0.1291) Figure 12: A machine with rotating
unbalanced masses.

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 208322 Mechanical Vibrations
Lesson 6
The total mass of the machine is M , and there are two eccentric masses
m / 2 rotating in opposite directions with a constant angular velocity ω.
We consider two equal masses m / 2 rotating in opposite directions in
order to have the horizontal components of excitation of the two masses
cancel each other.
The equation of motion is given by

Mx

+ cx
+ kx = meω 2 sin ωt.

The solution of this equation is similar to (13) and is given by

x p (t ) = X sin(ωt − φ ),

where
meω 2
X = 1/ 2
,
 (k − M ω 2 ) 2 + (cω ) 2 
 cω 
φ = tan −1  2 
.
 k − Mω 
The plots between MX / me and φ versus r are given in Figure
11 and Figure 6.

☻ Example 5: [1] The figure below depicts a Francis water turbine. Water
flows from A into the blades B and down into the tail race C. The rotor has
a mass of 250 kg and an unbalance (me) of 5 kg-mm. The radial clearance
between the rotor and the stator is 5 mm. The turbine is to be operated at
6000 rpm. The steel shaft carrying the rotor can be assumed to be
clamped at the bearings. Determine the diameter of the shaft so that the
rotor is always clear of the stator. Assume damping is negligible.

14 Copyright  2007 by Withit Chatlatanagulchai

 208322 Mechanical Vibrations
Lesson 6
Lesson 6 Homework Problems
3.19, 3.20, 3.30, 3.39, 3.47, 3.52.

Homework problems are from the required textbook (Mechanical

Vibrations, by Singiresu S. Rao, Prentice Hall, 2004)

References
[1] Mechanical Vibrations, by Singiresu S. Rao, Prentice Hall, 2004

Solution
Setting c = 0, we have

meω 2
X=
(k − M ω 2 )
meω 2
=
k (1 − r 2 )
(5.0 × 10−3 ) × (200π ) 2
0.005 =
 (200π ) 2 
k 1 −
 0.004k 
k = 10.04 × 106 π 2 N/m.

3EI 3E  π d 4 
Since for the steel beam, k = 3 = 3   , we have
l l  64 
64kl 3 (64)(10.04 × 104 π 2 )(23 )
d4 = = = 2.6005 × 10−4 m 4 and
3π E 3π (2.07 × 10 )
11

d = 0.1270 m = 127 mm.

15 Copyright  2007 by Withit Chatlatanagulchai